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[MISC] Enable contact pruning by default.#2832

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duburcqa merged 2 commits into
Genesis-Embodied-AI:mainfrom
duburcqa:fuse_pruning_clamp_sort_contacts
May 26, 2026
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[MISC] Enable contact pruning by default.#2832
duburcqa merged 2 commits into
Genesis-Embodied-AI:mainfrom
duburcqa:fuse_pruning_clamp_sort_contacts

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@duburcqa duburcqa commented May 25, 2026

  • Fuse pruning and clamp + sort.
  • Do not mutate collider state in place.

@duburcqa duburcqa requested a review from YilingQiao as a code owner May 25, 2026 21:20
@duburcqa duburcqa changed the title WIP: Fuse pruning and clamp + sort. WIP: Fuse contact prune, clamp and sort, plus avoid mutating collider state in-place. May 25, 2026
@duburcqa duburcqa changed the title WIP: Fuse contact prune, clamp and sort, plus avoid mutating collider state in-place. WIP: Fuse contact prune, clamp and sort, while avoiding mutating collider state in-place. May 25, 2026
@duburcqa duburcqa changed the title WIP: Fuse contact prune, clamp and sort, while avoiding mutating collider state in-place. WIP: [MISC] Fuse contact prune, clamp and sort, while avoiding mutating collider state in-place. May 25, 2026
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Comment thread genesis/engine/solvers/rigid/collider/contact.py
@duburcqa duburcqa force-pushed the fuse_pruning_clamp_sort_contacts branch from 2e20b43 to b279bf5 Compare May 25, 2026 21:33
@duburcqa duburcqa changed the title WIP: [MISC] Fuse contact prune, clamp and sort, while avoiding mutating collider state in-place. [MISC] Fuse contact prune, clamp and sort, while avoiding mutating collider state in-place. May 25, 2026
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🔴 Benchmark Regression Detected ➡️ Report

@duburcqa duburcqa force-pushed the fuse_pruning_clamp_sort_contacts branch from b279bf5 to 530b46c Compare May 25, 2026 22:41
@duburcqa duburcqa force-pushed the fuse_pruning_clamp_sort_contacts branch from 530b46c to adae82e Compare May 25, 2026 23:13
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⚠️ Abnormal Benchmark Result Detected ➡️ Report

@duburcqa duburcqa changed the title [MISC] Fuse contact prune, clamp and sort, while avoiding mutating collider state in-place. [MISC] Enable contact pruning by default. May 26, 2026
@duburcqa duburcqa merged commit efd615d into Genesis-Embodied-AI:main May 26, 2026
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