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Merge branch 'ccrouzet/sim-cloth-self-contact-thumbnail' into 'main' #614

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Run time

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Job	Run time
build-warp-macos	1m 1s
build-warp-ubuntu	6m 10s
build-warp-windows	9m 28s
test-warp-macos	16m 58s
test-warp-ubuntu	24m 36s
check-exports-header	0s
pull-request-docs	0s
check-build-docs-output	0s
test-warp-windows	19m 22s
	1h 17m 35s