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Move direct clone ownership into task setup
.github/workflows/config.yaml
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Avoid duplicate Newton solver resets
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Enable bounded SDF contact replay
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Backwards Compatibility Tests
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Remove backend registry design section
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Use backend types as registry identity
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Make renderer and visualizer construction config-owned (#7379)
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Make renderer and visualizer construction config-owned (#7379)
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Make renderer and visualizer construction config-owned (#7379)
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