[MISC] Enable link-level dedupe for gpu and n_nenvs <= 8192 and add optimizations.#2830

Draft

hughperkins wants to merge 8 commits into

Genesis-Embodied-AI:mainfrom

hughperkins:hp/dedup-alexis-perf-9d-stage3-r2

Commits on May 25, 2026

Fix contact point pruning in batched sim.
duburcqa
committed
deskai6: cooperative warp-per-env link-pair dedup, rebased onto #2831
hughperkins
committed
chore: fix F541 f-string without placeholders in CPU dedup-gate log
hughperkins
committed
Fuse pruning and clamp + sort.
duburcqa
committed
Merge duburcqa/fuse_pruning_clamp_sort_contacts; enable dedup on all backends + n_envs
hughperkins
committed
Remove stale prune_hull_collinear_tol after fused-kernel merge (Alexis collapsed it into tol*max_in_plane_r2)
hughperkins
committed
Restore cooperative warp-per-env dedup kernel for GPU; serial fused kernel for CPU
hughperkins
committed
Gate cooperative dedup kernel on n_envs <= gpu_cores / 2
hughperkins
committed