fix ur solver allocate memory

[matafela]

Description

• Warp kernel: Added ur_ik_nearest_kernel to generate, validate, and select candidates locally, returning one solution per target. Both paths share analytical branch computation.
• URSolver: Dispatches by return_all_solutions, removing full candidate allocation and PyTorch selection from the single-solution path while preserving limits, periodic representatives, weights, and failure fallback.
• Tests: Added 17 CPU/CUDA regression cases covering selection parity, periodic shifts, limits, seeds, ties, and allocation behavior.
• Benchmark: Compares the new single-solution, legacy selection, and all-solutions paths at 1k/10k/100k targets, reporting warmed timing, throughput, memory, and accuracy.

Fixes # (issue)

#603

Type of change

• Bug fix (non-breaking change which fixes an issue)
• Enhancement (non-breaking change which improves an existing functionality)

Checklist

• I have run the black . command to format the code base.
• I have made corresponding changes to the documentation
• Public API changes are reflected in the API docs (python docs/scripts/check_api_docs.py), if applicable
• I have added tests that prove my fix is effective or that my feature works
• Dependencies have been updated, if applicable.

[greptile-apps]

Confidence Score: 5/5

The PR appears safe to merge.

Findings

1.  Annotate variadic keyword values ▶

Fix with agent prompt

### Issue 1
embodichain/lab/sim/motion/solvers/ur_solver.py:undefined-153
The updated public `get_ik` signature leaves `**kwargs` untyped, preventing type checkers and generated API information from determining the accepted keyword-value type.

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---

For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.

Summary

• Extracts shared analytical branch generation for both Warp kernels.
• Dispatches URSolver.get_ik based on return_all_solutions.
• Adds regression tests, API documentation, and a solver benchmark.

_{Reviews (4) · Last reviewed commit: "merge main"}

[greptile-apps]

Annotate variadic keyword values

The updated public get_ik signature leaves **kwargs untyped, preventing type checkers and generated API information from determining the accepted keyword-value type.

Context Used: CLAUDE.md (source)

Prompt To Fix With AI

This is a comment left during a code review.
Path: embodichain/lab/sim/motion/solvers/ur_solver.py
Line: 148

Comment:
**Annotate variadic keyword values**

The updated public `get_ik` signature leaves `**kwargs` untyped, preventing type checkers and generated API information from determining the accepted keyword-value type.

**Context Used:** CLAUDE.md ([source](https://github.com/dexforce/embodichain/blob/main/CLAUDE.md))

---

For each issue above, determine whether it is valid and should be fixed. If so, fix it directly.

Note: If this suggestion doesn't match your team's coding style, reply to this and let me know. I'll remember it for next time!