Cherry-pick: Opt out of nested background physics reset for Galileo scene (#1249)

[peterd-NV]

Summary

Nested background physics reset became enabled by default and opted the Galileo scene into a reset path that it does not use. The Galileo scene contains a dolly prim that identified as an articulation from its USD schema, but PhysX does not expose a corresponding tensor articulation. The user is informed of this via an error message that is not fatal.

This PR disables reset_nested_physics to restore prior behaviour and prevent users from getting this error message.

(cherry picked from commit 20dcaab)

[greptile-apps]

Confidence Score: 5/5

The PR appears safe to merge because the targeted opt-out matches the Galileo scene's unsupported articulation state and no concrete regression was established.

Summary

• Adds a Galileo-specific constructor override that sets reset_nested_physics=False.
• Documents why the scene must opt out of the default reset path.

_{Reviews (1) · Last reviewed commit: "Opt out of nested background physics res..."}

[arena-review-bot]

🤖 Isaac Lab-Arena Review Bot

Summary

Clean cherry-pick of #1249 onto release/0.3.0: GalileoLocomanipBackground now passes reset_nested_physics=False, so the scene skips the nested-physics reset path and stops emitting the PhysX articulation error for the dolly prim. The diff is byte-identical to the merged main commit 20dcaab, and release/0.3.0 already carries the prerequisites — Background.__init__ takes reset_nested_physics (default True), and Scene (isaaclab_arena/scene/scene.py:93) honours the flag — so the fix applies as intended. No new findings.

Design, Boundaries & Scope

One thing worth a conscious decision for the release, not a change request here: the opt-out is scene-wide, so galileo_locomanip also loses reset coverage for every other nested dynamic body in that USD, and ResetBackgroundPhysics._is_unavailable_backend_error (isaaclab_arena/terms/events.py:78) already downgrades this exact error to a carb.log_warn. That trade-off was raised and settled on #1249; changing it here would diverge the release branch from main, so this cherry-pick should stay as-is. If the narrower fix (repair the dolly's ArticulationRootAPI in the USD, or skip that one path) is still wanted, it belongs on main first.

Test Coverage

No new test, which is correct for a cherry-pick — the release branch keeps parity with main. The opt-out path is exercised indirectly by test_locomanip_object_on_termination.py and test_g1_locomanip_apple_to_plate.py, which build galileo_locomanip with no kwargs and now pick up the flag from the class, and test_background_physics_reset.py covers the flag itself on another background.

Verdict

Ship it