…icy training. (Genesis-Embodied-AI#1493)

…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

…#1655)

…esis-Embodied-AI#1689)

…enesis-Embodied-AI#1682)

…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.

…enesis-Embodied-AI#1693)

… into yiling/250907_ipc