Add fast all-metrics render path

code/scripts/render_oven_metric_frame.py

@@ -660,9 +660,26 @@ def main() -> int:
         frame_row = matches.iloc[0]
     else:
         frame_row = frame_df.iloc[int(args.frame_index)]
-    demo = _load_demo(episode_dir)
     debug_jsonl = Path(args.debug_jsonl) if args.debug_jsonl else None
     debug_row = _load_debug_row(debug_jsonl, int(args.frame_index))
+    visibility_out = Path(args.visibility_out) if args.visibility_out else None
+    path_out = Path(args.path_out) if args.path_out else None
+    all_out = Path(args.all_out) if args.all_out else None
+
+    # The all-metrics panel only depends on RGB frames plus the dense CSV row.
+    # Skip simulator replay entirely when no geometric overlays are requested.
+    if all_out is not None and visibility_out is None and path_out is None:
+        all_image = _compose_all_metrics(
+            episode_name=episode_dir.name,
+            episode_dir=episode_dir,
+            demo=None,
+            frame_index=int(args.frame_index),
+            frame_row=frame_row,
+        )
+        _save_if_requested(all_image, all_out)
+        return 0
+
+    demo = _load_demo(episode_dir)
 
     env = _launch_replay_env()
     try:
@@ -676,10 +693,6 @@ def main() -> int:
             for obj in task._scene.robot.left_gripper.get_grasped_objects()
         )
 
-        visibility_out = Path(args.visibility_out) if args.visibility_out else None
-        path_out = Path(args.path_out) if args.path_out else None
-        all_out = Path(args.all_out) if args.all_out else None
-
         if visibility_out is not None:
             visibility_image = _compose_visibility_focus(
                 episode_dir=episode_dir,