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Fix/g1 rigid nan stability - #6
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The velocity and tracking env configs ran Genesis at dt=0.005 with decimation=4. At 8 GPUs x 4096 envs, the rigid solver eventually hit constraint NaN and aborted training with "Invalid constraint forces causing 'nan'. Please decrease Rigid simulation timestep." Halve dt to 0.002 and bump decimation to 10 so policy step stays at 20ms (PPO rollout shape, episode_length_s, action_rate semantics, and command resampling are all unchanged). Matches the mjlab reference this example is ported from. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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