kinematics refactor with mimic joint support

src/curobo/rollout/arm_reacher.py

@@ -274,7 +274,7 @@ class ArmReacher(ArmBase, ArmReacherConfig):
                         current_fn = self._link_pose_costs[k]
                         if current_fn.enabled:
                             # get link pose
-                            current_pose = link_poses[k]
+                            current_pose = link_poses[k].contiguous()
                             current_pos = current_pose.position
                             current_quat = current_pose.quaternion
 

src/curobo/rollout/rollout_base.py

@@ -417,6 +417,7 @@ class Goal(Sequence):
 class RolloutConfig:
     tensor_args: TensorDeviceType
     sum_horizon: bool = False
+    sampler_seed: int = 1312
 
 
 class RolloutBase:
@@ -436,7 +437,7 @@ class RolloutBase:
             self.tensor_args,
             up_bounds=self.action_bound_highs,
             low_bounds=self.action_bound_lows,
-            seed=1312,
+            seed=self.sampler_seed,
         )
 
     @abstractmethod