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

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jesusBV20 merged 7 commits intomasterfrom

Oct 6, 2025

Commits on Sep 30, 2025

[math] Implement SO(3) utilities
jesusBV20
committed

Commits on Oct 1, 2025

[math] add dimensions parser and random rotation matrix generator
jesusBV20
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[core][debug] Add pre-step check for dimensions in simulator engine
jesusBV20
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[core] Add ControllerManager for supporting multiple controllers sharing information
jesusBV20
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Commits on Oct 2, 2025

Commits on Oct 3, 2025

[core] Pass dt to controllers computation, allow tracked variables to reference fixed values, improve sanity checks in robot initialization
jesusBV20
committed