One feedback from someone interested in using this about the examples: I have looked at several and they seem too high level to get a sense of the actual API (i.e. the expected benefit of using this library vs the development complexity of using it).

For example, the cloth bending simulation is almost entirely: at __init__, call a function to add a cloth mesh to model builder obj, pass built model to initializer of a solver class; and at each timestep: call a collide model function, then call another function called solver.step. That's really it.