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…ormal & segmentation. (Genesis-Embodied-AI#1671)
--------- Co-authored-by: YilingQiao <49262224+YilingQiao@users.noreply.github.com>
…#1672) * reduce max_collision_pairs to save memory * limit pysplashsurf's version
…enesis-Embodied-AI#1676) Co-authored-by: Alexis Duburcq <alexis.duburcq@gmail.com>
…enetration of the gripper (Genesis-Embodied-AI#1558)
…ied-AI#1563) Co-authored-by: Alexis DUBURCQ <alexis.duburcq@gmail.com>
…compound joints for 'set_dofs_position'. (Genesis-Embodied-AI#1678) * Fix 'ti_to_torch' for good. * Fix compound joints for 'set_dofs_position'. * Fix support of legacy coupler for CPIC enabled. * [CHANGING] More sensible defaults for camera far, near. * Special handling of pytest parameter printing for types.
…enesis-Embodied-AI#1674) * links state (ndarray=0 passes) * add annotation for linksstate in func * links info * joints nifo * dofs_info * pre-commit * fix test_jacobian * reorder call to jacobian
…mbodied-AI#1690) * Cleanup unit tests to support ndarray. * Migrate rigid geometry classes to support ndarray. * Skip tests that only support fields. * Skip tests if fastcache + ndarrays is enabled on apple metal. * Setup infra to run unit test with taichi ndarray on the CI.
… into yiling/250907_ipc
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Description
Related Issue
Resolves Genesis-Embodied-AI/Genesis#
Motivation and Context
How Has This Been / Can This Be Tested?
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Submitting Code Changessection of CONTRIBUTING document.