Request for Clarification: Dynamic Values in RigidSolver Class (link_state, dof_state, geom_state)

[pjw971022]

Hi,
I'm curious about the meaning of various dynamic values being updated in the link_state, dof_state, and geom_state within the RigidSolver class. Specifically, I'd like to understand what each value represents in the following struct:

struct_link_state = ti.types.struct(
    cinr_inertial=gs.ti_mat3,    
    cinr_pos=gs.ti_vec3,        
    cinr_quat=gs.ti_vec4,       
    cinr_mass=gs.ti_float,       
    crb_inertial=gs.ti_mat3,     
    crb_pos=gs.ti_vec3,          
    crb_quat=gs.ti_vec4,         
    crb_mass=gs.ti_float,        
    cdd_vel=gs.ti_vec3,         
    cdd_ang=gs.ti_vec3,          
    pos=gs.ti_vec3,              
    quat=gs.ti_vec4,             
    ang=gs.ti_vec3,              
    vel=gs.ti_vec3,              
    i_pos=gs.ti_vec3,         
    i_quat=gs.ti_vec4,          
    j_pos=gs.ti_vec3,        
    j_quat=gs.ti_vec4,         
    j_vel=gs.ti_vec3,            
    j_ang=gs.ti_vec3,           
    cd_ang=gs.ti_vec3,     
    cd_vel=gs.ti_vec3,     
    root_COM=gs.ti_vec3,       
    mass_sum=gs.ti_float,       
    COM=gs.ti_vec3,              
    mass_shift=gs.ti_float,      
    i_pos_shift=gs.ti_vec3,      
    cfrc_flat_ang=gs.ti_vec3,    
    cfrc_flat_vel=gs.ti_vec3,    
    cfrc_ext_ang=gs.ti_vec3,     
    cfrc_ext_vel=gs.ti_vec3,    
    contact_force=gs.ti_vec3,   
    hibernated=gs.ti_int,        
)

Could you please explain the purpose and meaning of each of these dynamic values?

Thank you,
Jinwoo