[MISC] Lazy memory allocation for hibernation.

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💡 Codex Review

genesis-world/genesis/utils/array_class.py

Lines 2305 to 2306 in cb3b0f8

	self.dofs_state_adjoint_cache = get_dofs_state(solver)
	self.links_state_adjoint_cache = get_links_state(solver)

Pass kinematic_only when building adjoint caches

When requires_grad is enabled, this branch still calls get_dofs_state and get_links_state with only solver, but this change made both helpers require the new kinematic_only argument. Any differentiable rigid simulation now fails during DataManager construction with a TypeError before it can initialize; pass the flag here (likely False for these rigid adjoint caches) or give the helper a default.

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