[Migration] Forward Dynamics.#1406
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YilingQiao merged 14 commits intoGenesis-Embodied-AI:mainfrom Jul 14, 2025
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kernel_step_1 and kernel_step_2 are good (c7327208) |
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Constraint solver is also done (c91cdaf) |
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Description
Refactor all major rigid solver kernels (except for MPR and GJK).
Checklist:
Submitting Code Changessection of CONTRIBUTING document.