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[core][math] Add Lie-group utilities, SimulationContext & multi-controller architecture, SO(3) helpers, and simulation engine refactor #1

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Merged
jesusBV20 merged 7 commits into from
Oct 6, 2025

[core] Pass dt to controllers computation, allow tracked variables to…

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Merged

[core][math] Add Lie-group utilities, SimulationContext & multi-controller architecture, SO(3) helpers, and simulation engine refactor #1

[core] Pass dt to controllers computation, allow tracked variables to…
ea62cd7
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