contact layer #1118
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contact layer #1118
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- Add get_contact_counts method for efficient batch counting - Add SegContactIndexer with lazy loading (counts only at init) - Fix BBox coordinate handling in backend read method - Update tests to use from_coords with explicit resolution
- Dataset wraps SegContactIndexer and returns dict of tensors - Returns pointclouds, target, segment IDs, contact info - Metadata passed through as-is (any type)
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