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add homogeneous optimizaiton#1

Open
ooctipus wants to merge 2 commits intocamevor:world-aware-contact-sensorsfrom
ooctipus:filter_homogeneous_optimization
Open

add homogeneous optimizaiton#1
ooctipus wants to merge 2 commits intocamevor:world-aware-contact-sensorsfrom
ooctipus:filter_homogeneous_optimization

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Commits on Mar 9, 2026