Worked on improving physics stability in the IsaacLab repository by addressing a bug related to shape detach errors during simulation. The solution involved disabling the metrics assembler’s change listener, which previously triggered unnecessary resync events when objects were deleted, leading to instability and performance issues. This targeted configuration change, implemented in Python, enhanced runtime determinism and mitigated regressions in environments sensitive to change tracking. The work focused on precise bug fixing and configuration management rather than feature development, demonstrating a methodical approach to resolving a specific issue tracked as #445 and ensuring more reliable physics simulations within the IsaacLab codebase.