Issue: pseudo_inertia Domain Randomization Causes Significant collection_time Increase

Description

When using pseudo_inertia for center-of-mass and inertia randomization, collection_time increases from approximately 1.3s to 2s (~50% performance degradation). The equivalent combination of body_mass + body_com_offset performs normally.

Environment

Reproduction Configuration

Slow configuration (~2s):

"body_inertia_aniso_dr": EventTermCfg(
    mode="reset",
    func=dr.pseudo_inertia,
    params={
        "asset_cfg": SceneEntityCfg("robot", body_names=(r"^(FL|FR|RL|RR)_.*",)),
        "alpha_range": (-0.01, 0.01),  # up to 2x mass/inertia scaling
        "t_range": (-0.01, 0.01),      # -1 cm~1 cm COM X shift
    },
)

Fast configuration (~1.3s):

"body_mass": EventTermCfg(
    mode="reset",
    func=dr.body_mass,
    params={
        "asset_cfg": SceneEntityCfg("robot", body_names=("base_link",)),
        "ranges": {0: (-0.3, 0.3)},
    },
),
"body_com": EventTermCfg(
    mode="reset",
    func=dr.body_com_offset,
    params={
        "asset_cfg": SceneEntityCfg("robot", body_names=("base_link",)),
        "ranges": {
            0: (-0.025, 0.025),
            1: (-0.025, 0.025),
            2: (-0.03, 0.03),
        },
    },
)

Expected Behavior

pseudo_inertia performance should be comparable to the equivalent body_mass + body_com_offset combination, or provide clear performance warnings/optimization suggestions.

Actual Behavior

pseudo_inertia causes ~54% increase in collection_time ((2.0-1.3)/1.3).

Additional Context

• Training environment: Flat terrain
• This performance difference is consistently reproducible across multiple training runs

Suggested labels: performance, domain-randomization, bug or enhancement