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[DO NOT MERGE] Breakdown constraint solver solving kernel.#2209

Draft
YilingQiao wants to merge 4 commits intoGenesis-Embodied-AI:mainfrom
YilingQiao:yiling/260108_breakdown
Draft

[DO NOT MERGE] Breakdown constraint solver solving kernel.#2209
YilingQiao wants to merge 4 commits intoGenesis-Embodied-AI:mainfrom
YilingQiao:yiling/260108_breakdown

Commits

Commits on Jan 13, 2026