[FEATURE] Support visual mesh deformation of KinematicEntity and rendering of KinematicEntity in raycast sensor.#2721

Draft

Kashu7100 wants to merge 11 commits intoGenesis-Embodied-AI:mainfrom

Kashu7100:feat-smpl-vis2

Commits on Apr 15, 2026

Commits on Apr 17, 2026

Fix review issues: cross-solver guard, FK init, no_hit_value validation, post-build setter

Kashu7100
and
claude
committed
Support cross-solver sensor attachment via per-sensor link resolution

Kashu7100
and
claude
committed
Restrict visual BVH to entities with use_visual_raycasting (phase 3)

Kashu7100
and
claude
committed
Update example to verify all three phases with articulated robot

Kashu7100
and
claude
committed
Simplify: deduplicate seg keys, extract cast helper, clean up examples

Kashu7100
and
claude
committed
Fix static sensor offset misalignment and redundant per-frame FK

Kashu7100
and
claude
committed

Commits on Apr 20, 2026