- Add scipy Rotation scalar_first monkey-patch for older scipy (<1.11)
- Fix SimulationApp import to support both IS 4.x and 5.x
- Reuse task object across reset() calls to prevent duplicate prims
- Add _scene_initialized guard in set_up_scene() for repeated resets
- Cache arena_file_path to survive task_cfg.pop()
- Clean up collision groups before re-creating
- Switch to PathTracing renderer for clean output on Blackwell GPU
Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
