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See title. Adds support for non-Euclidean systems (e.g., SO(3) joints) by supporting custom traced distance and interpolation functions (supported via Cricket). Also adds a batched KD-tree implementation to support these distance functions, dropping nigh from the dependency list.
Disclaimer: Claude helped me with this (particularly with some of the surgery in the vector math needed for SO(3) support), please call out any LLM-isms that you see.