[Feature] Allows to turn on/off batch (links/dofs) info #238
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In the rigid solver option, there are
batch_links_infoandbatch_dofs_info. If either is set to True, in the rigid solver, we introduce additional batch dimension (like inlinks_stateordofs_state). If they are both set to False, the built kernels in the solver should resemble those from the original code -- w/o the batch dimension.An example is added in
examples/rigid/set_phys_attr.py, which demonstrates how to set kp, kv, force range, armature, stiffness, invweight, damping for dofs and inertial mass, and invweight for links.Related issues: #70, #120