[MISC] Reduce indentation in narrowphase.py and save 89 lines#2790

Open

hughperkins wants to merge 13 commits into

Genesis-Embodied-AI:mainfrom

hughperkins:hp/narrowphase-flatten-today

Commits on May 16, 2026

Flatten guard `if`s in narrowphase.py via early `continue`
hughperkins
committed
Merge branch 'main' into hp/narrowphase-flatten-today
hughperkins
authored
Apply ruff format
hughperkins
committed
Fix dropped edge-SDF fallback in func_narrow_phase_nonconvex_vs_nonterrain
hughperkins
committed
Revert continue-flatten in func_narrow_phase_diff_convex_vs_convex (autodiff)
hughperkins
committed
Merge nested `if`s in non-MJ-MPR repeated-contact gate
hughperkins
committed
Remove statically-dead `if qd.static(requires_grad)` in non-diff branch
hughperkins
committed
Use `elif multi_contact_flag:` instead of `else: if multi_contact_flag:`
hughperkins
committed
Merge `if not MJ_MPR: if prefer_gjk:` in func_convex_convex_contact
hughperkins
committed
Merge `if MPR: if penetration > tolerance:` in MPR-to-GJK fallback
hughperkins
committed
Merge `if i_mpr == 1: if qd.static(not mujoco_compat):` in MPR warm-start
hughperkins
committed
Merge `if (i_detection == 0) and ...:` into MPR warm-start guard
hughperkins
committed
Re-format narrowphase.py to unwrap calls that now fit on one line
hughperkins
committed