diff --git a/source/isaaclab/isaaclab/sim/simulation_context.py b/source/isaaclab/isaaclab/sim/simulation_context.py
index 07ee06819e64..4eb82b8ac4ad 100644
--- a/source/isaaclab/isaaclab/sim/simulation_context.py
+++ b/source/isaaclab/isaaclab/sim/simulation_context.py
@@ -1,4 +1,4 @@
-# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
+# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
 # All rights reserved.
 #
 # SPDX-License-Identifier: BSD-3-Clause
@@ -30,7 +30,7 @@
 from isaacsim.core.simulation_manager import SimulationManager
 from isaacsim.core.utils.viewports import set_camera_view
 from isaacsim.core.version import get_version
-from pxr import Gf, PhysxSchema, Sdf, Usd, UsdPhysics
+from pxr import Gf, PhysxSchema, Sdf, Usd, UsdPhysics, UsdUtils
 
 from isaaclab.sim.utils import stage as stage_utils
 
@@ -550,6 +550,11 @@ def step(self, render: bool = True):
                 # meantime if someone stops, break out of the loop
                 if self.is_stopped():
                     break
+            if not self.is_stopped():
+                # HACK: PhysX Fabric 107.3.21+ skips writing articulation poses on subsequent resumes.
+                # Remove once the IsaacLab pin includes https://github.com/isaac-sim/IsaacLab/pull/5178
+                # or the underlying PhysX issue https://github.com/isaac-sim/IsaacLab/issues/4279 is fixed.
+                self._re_sync_fabric()
             # need to do one step to refresh the app
             # reason: physics has to parse the scene again and inform other extensions like hydra-delegate.
             #   without this the app becomes unresponsive.
@@ -855,6 +860,28 @@ def _load_fabric_interface(self):
                 # Needed for backward compatibility with older Isaac Sim versions
                 self._update_fabric = self._fabric_iface.update
 
+    def _re_sync_fabric(self) -> None:
+        """Force Fabric to re-synchronize after a pause/resume transition.
+
+        Detaching and re-attaching the USD stage forces FabricManager to reinitialize and write
+        articulation transforms for Hydra after PhysX Fabric 107.3.21+ skips that initialization
+        on subsequent resumes.
+        """
+        if self._fabric_iface is None:
+            return
+
+        stage = self.stage
+        if stage is None:
+            return
+
+        stage_id = UsdUtils.StageCache.Get().GetId(stage).ToLongInt()
+        if stage_id <= 0:
+            return
+
+        self._fabric_iface.detach_stage()
+        self._fabric_iface.attach_stage(stage_id)
+        self._update_fabric(0.0, 0.0)
+
     def _update_anim_recording(self):
         """Tracks anim recording timestamps and triggers finish animation recording if the total time has elapsed."""
         if self._anim_recording_started_timestamp is None: