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                                            Genesis-Embodied-AI

Support capsule and better error messages?

ok i see we used urdfpy for parsing urdfs, i think we should be able to add capsule

[Feature]: Could you please let us know when the team will be able to provide collision detection interfaces between rigid bodies and methods for coupling multiple solvers?

Inter-solver coupling is already implemented. Any idea what kind of api you are looking for?

Add camera and no image

waitkey(1) should be after `render()`. Could you check the variables returned by `render()` and see if it's meaingful?

Adding user-defined IK chains

Sounds like a very helpful feature! -- if possible, do you think you can help us with this? Implementation should be straightforward, just adding some mask when computing the jacobian...