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[BUG FIX] Skip contact pruning for degenerated buckets.#2836

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[BUG FIX] Skip contact pruning for degenerated buckets.#2836
duburcqa wants to merge 1 commit into
Genesis-Embodied-AI:mainfrom
duburcqa:fix_pruning_causing_drift

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@duburcqa duburcqa requested a review from YilingQiao as a code owner May 26, 2026 13:22
@duburcqa duburcqa force-pushed the fix_pruning_causing_drift branch from f034306 to 9226791 Compare May 26, 2026 15:10
@duburcqa duburcqa changed the title [BUG FIX] Skip contact pruning for link pairs involving only 2 geoms. [BUG FIX] Skip contact pruning for degenerated contact buckets. May 26, 2026
@duburcqa duburcqa changed the title [BUG FIX] Skip contact pruning for degenerated contact buckets. [BUG FIX] Skip contact pruning for degenerated buckets. May 26, 2026
@duburcqa duburcqa force-pushed the fix_pruning_causing_drift branch 4 times, most recently from 724c720 to b78318c Compare May 26, 2026 19:48
@duburcqa duburcqa marked this pull request as draft May 27, 2026 11:53
@duburcqa duburcqa force-pushed the fix_pruning_causing_drift branch 2 times, most recently from 8c39fd5 to 11c545a Compare May 27, 2026 17:45
@duburcqa duburcqa marked this pull request as ready for review May 27, 2026 17:46
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Comment thread genesis/engine/solvers/rigid/collider/contact.py
@duburcqa duburcqa force-pushed the fix_pruning_causing_drift branch from 11c545a to 02d7003 Compare May 27, 2026 18:55
@duburcqa duburcqa marked this pull request as draft May 28, 2026 07:34
@duburcqa duburcqa closed this May 28, 2026
@duburcqa duburcqa deleted the fix_pruning_causing_drift branch May 28, 2026 08:25
@duburcqa duburcqa restored the fix_pruning_causing_drift branch May 28, 2026 08:33
@duburcqa duburcqa reopened this May 28, 2026
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