Fix: Backport lab_sim burner pushable fix to inlined picknik_accessories#671
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…ccessories Backports the upstream picknik_accessories#45 burner fix that was applied on v9.3 via PR #661 (submodule bump aad29fa -> 3b0912d) but was not carried over to main when picknik_accessories was inlined in PR #656 (which inlined the pre-fix aad29fa snapshot). Explicit inertial + friction + priority on the stirrer collision geom keep the burner light enough and slippery enough relative to the desk that the gripper can push it. Without this, MuJoCo auto-infers ~9.7 kg from the collision-box extents, and the desk's default friction pins the burner under any gripper push.
JWhitleyWork
approved these changes
May 28, 2026
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Summary
Backports the burner-pushable fix from
picknik_accessoriesPR #45 into the now-inlined copy of those assets onmain.The
v9.3branch already has this fix via PR #661 (submodule bumpaad29fa→3b0912d). Main does not, because PR #656 inlined the pre-fixaad29fasnapshot ofpicknik_accessoriesshortly afterv9.3was cut, so thepicknik_accessories#45fix never made it across.What changed
Three surgical changes to the
stirrerbody insrc/picknik_accessories/mujoco_assets/lab_desk/desk.xml:<freejoint />→<joint type="free" damping="1" />, plus an explicit<inertial pos="0 0 0.02" mass="1.5" diaginertia="0.008 0.008 0.012" />so MuJoCo does not auto-infer ~9.7 kg from the collision-box extents.mass="0"on the visual geom so it contributes no inertia (the<inertial>element is authoritative).friction="0.3 0.005 0.0001"+priority="1"on the collision geom so the burner's lower friction overrides the desk's default friction under the MAX-rule combine, allowing the gripper to push it.The long explanatory comment about the diaginertia choices is preserved from the upstream commit.
Verification
picknik_accessories@aad29fa..3b0912dtouches only one file (mujoco_assets/lab_desk/desk.xml) across two commits (the fix + its merge), so this is the complete diff — nothing else onmainis missing.picknik_accessories@3b0912d:mujoco_assets/lab_desk/desk.xml— the only remaining differences are cosmetic formatting (multi-line vs single-line attributes), inherited from the pre-commit reformat done in PR Inline picknik_accessories into the workspace #656.🤖 Generated with Claude Code