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

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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
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9afc416
Merge branch 'main' into hp/narrowphase-flatten-today
hughperkins
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07b3f30
Apply ruff format
hughperkins
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76ba053
Fix dropped edge-SDF fallback in func_narrow_phase_nonconvex_vs_nonterrain
hughperkins
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213309e
Revert continue-flatten in func_narrow_phase_diff_convex_vs_convex (autodiff)
hughperkins
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7aa1441
Merge nested `if`s in non-MJ-MPR repeated-contact gate
hughperkins
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82794d6
Remove statically-dead `if qd.static(requires_grad)` in non-diff branch
hughperkins
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2b848b9
Use `elif multi_contact_flag:` instead of `else: if multi_contact_flag:`
hughperkins
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94d75db
Merge `if not MJ_MPR: if prefer_gjk:` in func_convex_convex_contact
hughperkins
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c3565fa
Merge `if MPR: if penetration > tolerance:` in MPR-to-GJK fallback
hughperkins
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b7e3bf5
Merge `if i_mpr == 1: if qd.static(not mujoco_compat):` in MPR warm-start
hughperkins
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0537c6a
Merge `if (i_detection == 0) and ...:` into MPR warm-start guard
hughperkins
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872400b
Re-format narrowphase.py to unwrap calls that now fit on one line
hughperkins
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11deaf6