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perf(handrail_detect): cache model indices and hoist wTc.inverse() out of loops#832

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killerdevildog wants to merge 1 commit intonasa:developfrom
killerdevildog:perf/handrail-detect-hotpath-optimization
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perf(handrail_detect): cache model indices and hoist wTc.inverse() out of loops#832
killerdevildog wants to merge 1 commit intonasa:developfrom
killerdevildog:perf/handrail-detect-hotpath-optimization

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Commits on Mar 6, 2026