(Cherrypick) Use CPU physics + disabled fabric for policy runner rendering - #1176
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xyao-nv wants to merge 5 commits into
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(Cherrypick) Use CPU physics + disabled fabric for policy runner rendering#1176xyao-nv wants to merge 5 commits into
xyao-nv wants to merge 5 commits into
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## Summary Force CPU to fix rendering after rebuild bug ## Detailed description - After stage reset, some object pases used by the renderer could differ from the poses used by the physics, leading to parts of the robot rendering in the wrong locations. - This MR contains a workaround that forces the system to run on the CPU with fabrics disabled in cases where a stage rebuild is required. - Addresses: [6657464](https://nvbugs.nvidia.com/6657464) and [6628837](https://nvbugs.nvidia.com/6628837) ## Images Before: https://github.com/user-attachments/assets/dabca106-da1c-4c6d-8f15-aa35ef72cce8 After: https://github.com/user-attachments/assets/5c33234d-4ec9-4a66-b833-e35a032a3f9f --------- Signed-off-by: alex <amillane@nvidia.com>
Disable Fabric and force the Policy Runner environment onto CPU physics while preserving the policy inference device. Document the safe rendering configuration for agents and Experiment execution. Signed-off-by: Xinjie Yao <xyao@nvidia.com>
Restore the Run Experiment skill to its main-branch behavior while retaining the repository-wide rendering safety rule. Mark that AGENTS.md guidance for removal when the Isaac Lab bug is fixed. Signed-off-by: Xinjie Yao <xyao@nvidia.com>
Signed-off-by: Xinjie Yao <xyao@nvidia.com>
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Summary
Cherrypick #1175