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Results 5 issues of


                                            YilingQiao

[BUG FIX] fix bugs for box collision detection

[FEATURE] add box-box collision detection

Try ``` python examples/rigid/franka_cube.py ```

[FEATURE] Add multi gpu example using pytorch ddp

## Description Add an example for running genesis+torch on multi-gpu. Try ``` torchrun --standalone --nnodes=1 --nproc_per_node=2 examples/ddp_multi_gpu.py ``` ## Related Issue Resolves Genesis-Embodied-AI/Genesis# ## Motivation and Context ## How Has...

CUDA Error on RTX 5090

**Describe the bug** Got CUDA_ERROR_ILLEGAL_ADDRESS on NVIDIA GeForce RTX 5090 (32G GPU memory) . Same code works fine on CPU or 4090 (24G GPU memory). **To Reproduce** ``` import taichi...

[FEATURE] Heterogeneous Simulation

## Description This PR enables the rigid solver to simulate different objects in different environments. In other words, an entity can have different morphs in different environments. Currently, it only...