improved joint space planning

setup.cfg

@@ -50,12 +50,13 @@ install_requires =
   torch>=1.10
   trimesh
   yourdfpy>=0.0.53
-  warp-lang>=0.9.0
+  warp-lang>=0.11.0
   scipy>=1.7.0
   tqdm
   wheel
   importlib_resources
   scikit-image
+
 packages = find_namespace:
 package_dir =
   = src
@@ -85,10 +86,10 @@ ci =
 
 
 # this is only available in 3.8+
-smooth = 
+smooth =
   trajectory_smoothing @ https://github.com/balakumar-s/trajectory_smoothing/raw/main/dist/trajectory_smoothing-0.3-cp38-cp38-linux_x86_64.whl
 
-usd = 
+usd =
   usd-core
 
 dev =
@@ -101,12 +102,12 @@ dev =
   pytest>6.2.5
   pytest-cov
 
-isaacsim = 
+isaacsim =
   tomli
   wheel
   ninja
 
-doc = 
+doc =
   sphinx
   sphinx_rtd_theme
   graphviz>=0.20.1