From d27b4dae655a18ca4e2e62cfd2d5f11c867cb524 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 20 May 2026 16:14:02 -0600
Subject: [PATCH 1/3] chore(sim): standardize MuJoCo timestep to 0.003 s across
 robot configs

Sets `<option timestep="0.003">` in every MuJoCo-using scene file in the
workspace, matching the value already in use in qualcomm_sim.

Previous values were inconsistent:
- 0.025 s (hangar_sim, 40 Hz) - 12.5x larger than default
- 0.01  s (factory_sim, 100 Hz)
- 0.005 s (dual_arm_sim, kitchen_sim, 200 Hz)
- 0.002 s (everything else, via MuJoCo default, 500 Hz)

Standardizing on 0.003 s (333 Hz) trades a small wall-time slowdown on
the previously-default-0.002 configs for a large stability improvement
on hangar_sim and factory_sim, where stiff arm contacts were running at
a step well outside the typical safe range.

See https://github.com/PickNikRobotics/moveit_pro/issues/19223 for the
question filed to Griz/Breelyn about hangar_sim's prior 0.025 s value -
that issue may surface a reason to revisit hangar_sim specifically.

phoebe_sim (submodule) is intentionally not included in this PR; it
needs a separate PR in PickNikRobotics/phoebe_ws.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---
 src/april_tag_sim/description/scene.xml                         | 2 +-
 src/dual_arm_sim/description/mujoco/franka3.xml                 | 2 +-
 src/factory_sim/description/scene.xml                           | 2 +-
 src/grinding_sim/description/scene.xml                          | 2 ++
 src/hangar_sim/description/hangar_scene.xml                     | 2 +-
 src/kitchen_sim/description/mujoco/franka3.xml                  | 2 +-
 src/lab_sim/description/scene.xml                               | 2 +-
 src/lunar_sim/mjcf/scene.xml                                    | 2 ++
 .../kinova_sim/description/mujoco/landsat_scene.xml             | 2 +-
 .../kinova_sim/description/mujoco/rafti_fingers_scene.xml       | 1 +
 .../kinova_sim/description/mujoco/scene.xml                     | 1 +
 .../space_satellite_sim/description/mujoco/scene.xml            | 2 +-
 .../space_satellite_sim_camera_cal/description/mujoco/scene.xml | 2 +-
 13 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/src/april_tag_sim/description/scene.xml b/src/april_tag_sim/description/scene.xml
index 2b42bc047..9e3ab7079 100644
--- a/src/april_tag_sim/description/scene.xml
+++ b/src/april_tag_sim/description/scene.xml
@@ -6,7 +6,7 @@
 
   <compiler angle="radian" autolimits="true" />
 
-  <option integrator="implicitfast" />
+  <option integrator="implicitfast" timestep="0.003" />
 
   <asset>
     <mesh name="cube" file="assets/Cube.stl" />
diff --git a/src/dual_arm_sim/description/mujoco/franka3.xml b/src/dual_arm_sim/description/mujoco/franka3.xml
index 42b843914..5d32de87c 100644
--- a/src/dual_arm_sim/description/mujoco/franka3.xml
+++ b/src/dual_arm_sim/description/mujoco/franka3.xml
@@ -1,7 +1,7 @@
 <mujoco model="fr3">
   <compiler angle="radian" meshdir="assets" />
 
-  <option integrator="implicitfast" timestep="0.005" />
+  <option integrator="implicitfast" timestep="0.003" />
 
   <default>
     <default class="fr3">
diff --git a/src/factory_sim/description/scene.xml b/src/factory_sim/description/scene.xml
index e3778f581..f43077048 100644
--- a/src/factory_sim/description/scene.xml
+++ b/src/factory_sim/description/scene.xml
@@ -1,6 +1,6 @@
 <mujoco model="fanuc scene">
   <compiler angle="radian" autolimits="true" />
-  <option integrator="implicitfast" timestep="0.01">
+  <option integrator="implicitfast" timestep="0.003">
     <flag multiccd="enable" override="enable" />
   </option>
 
diff --git a/src/grinding_sim/description/scene.xml b/src/grinding_sim/description/scene.xml
index ad7edda5c..974b4bb7b 100644
--- a/src/grinding_sim/description/scene.xml
+++ b/src/grinding_sim/description/scene.xml
@@ -1,6 +1,8 @@
 <mujoco model="ur20 grinding scene">
   <compiler angle="radian" autolimits="true" assetdir="grinding_sim_assets" />
 
+  <option timestep="0.003" />
+
   <default>
     <!-- Actuator & joint defaults -->
     <joint axis="0 0 1" range="-6.28319 6.28319" armature="0.5" />
diff --git a/src/hangar_sim/description/hangar_scene.xml b/src/hangar_sim/description/hangar_scene.xml
index 6629ca677..5380f542e 100644
--- a/src/hangar_sim/description/hangar_scene.xml
+++ b/src/hangar_sim/description/hangar_scene.xml
@@ -7,7 +7,7 @@
   <include file="hangar.xml" />
   <option
     integrator="implicitfast"
-    timestep="0.025"
+    timestep="0.003"
     noslip_iterations="5"
     impratio="20"
     cone="elliptic"
diff --git a/src/kitchen_sim/description/mujoco/franka3.xml b/src/kitchen_sim/description/mujoco/franka3.xml
index 4669d948c..056b13b86 100644
--- a/src/kitchen_sim/description/mujoco/franka3.xml
+++ b/src/kitchen_sim/description/mujoco/franka3.xml
@@ -1,7 +1,7 @@
 <mujoco model="fr3">
   <compiler angle="radian" meshdir="assets" />
 
-  <option integrator="implicitfast" timestep="0.005" />
+  <option integrator="implicitfast" timestep="0.003" />
 
   <default>
     <default class="fr3">
diff --git a/src/lab_sim/description/scene.xml b/src/lab_sim/description/scene.xml
index 0074434a0..2b368cfbe 100644
--- a/src/lab_sim/description/scene.xml
+++ b/src/lab_sim/description/scene.xml
@@ -6,7 +6,7 @@
 
   <compiler angle="radian" autolimits="true" />
 
-  <option integrator="implicitfast" impratio="10" noslip_iterations="3" />
+  <option integrator="implicitfast" timestep="0.003" impratio="10" noslip_iterations="3" />
 
   <!-- nuser_cam=1 enables per-camera user params: 0=RGB+Depth, 1=RGB-only, 2=3D-lidar -->
   <!-- memory: arena size for contacts/constraints. MuJoCo 3.3+ stopped growing the arena
diff --git a/src/lunar_sim/mjcf/scene.xml b/src/lunar_sim/mjcf/scene.xml
index 199a2288e..3dda1423a 100644
--- a/src/lunar_sim/mjcf/scene.xml
+++ b/src/lunar_sim/mjcf/scene.xml
@@ -1,4 +1,6 @@
 <mujoco model="lunar sim scene">
+  <option timestep="0.003" />
+
   <default>
     <default class="visual">
       <geom
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml
index 987fcaf4d..29f026086 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml
@@ -1,6 +1,6 @@
 <mujoco model="kinova scene">
   <include file="gen3_7dof.xml" />
-  <option gravity="0 0 0" />
+  <option timestep="0.003" gravity="0 0 0" />
   <option>
     <flag multiccd="enable" />
   </option>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml
index 735efb6ca..efc905c4b 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml
@@ -1,4 +1,5 @@
 <mujoco model="kinova scene">
+  <option timestep="0.003" />
   <include file="gen3_7dof_rafti_fingers.xml" />
   <statistic center="0.3 0 0.4" extent="1" />
   <default>
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml
index 32bfe5e76..fcdc5cd0e 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml
@@ -1,5 +1,6 @@
 <mujoco model="kinova scene">
   <include file="gen3_7dof.xml" />
+  <option timestep="0.003" />
   <statistic center="0.3 0 0.4" extent="1" />
   <default>
     <geom solref=".004 1" />
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/scene.xml b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/scene.xml
index 545e1b2a9..89cc0d519 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/scene.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/scene.xml
@@ -1,6 +1,6 @@
 <mujoco model="space satellite scene">
   <compiler angle="radian" meshdir="assets" />
-  <option integrator="implicitfast" gravity="0 0 0" />
+  <option integrator="implicitfast" timestep="0.003" gravity="0 0 0" />
 
   <include file="gen3_7dof_assets.xml" />
 
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/scene.xml b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/scene.xml
index 8937a0172..ad9574167 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/scene.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim_camera_cal/description/mujoco/scene.xml
@@ -1,6 +1,6 @@
 <mujoco model="space satellite scene">
   <compiler angle="radian" meshdir="assets" />
-  <option integrator="implicitfast" gravity="0 0 0" />
+  <option integrator="implicitfast" timestep="0.003" gravity="0 0 0" />
 
   <include file="gen3_7dof_assets.xml" />
 

From 33573d2ff2c9258ad3f59ba0dcb21ed37c8dad92 Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Wed, 20 May 2026 16:48:38 -0600
Subject: [PATCH 2/3] chore(sim): standardize MuJoCo camera resolution to
 1280x720 across robot configs

Sets `resolution="1280 720"` on every <camera> in the workspace's MJCF scene
files, and ensures every top-level scene's <global offwidth/offheight> is at
least 1280x720 so the offscreen render buffer fits the largest camera.

Previously inconsistent:
- 1280x720 (lunar_sim, hangar_sim, picknik_accessories/ur5e wrist_camera)
- 640x480  (lab_sim, kitchen_sim, grinding_sim, april_tag_sim, dual_arm_sim,
            factory_sim, space_satellite_sim, kinova_sim and variants)

This was discovered when `lab_sim` failed to start with:

    [ros2_control_node] [ERROR] The published robot description file (urdf)
    seems not to be genuine. ... Camera resolution mismatch, set:
    <global offwidth="1280" offheight="720"/> in the MJCF model.

The wrist_camera in picknik_accessories/mujoco_assets/ur5e/ur5e.xml was
already at 1280x720, but lab_sim's scene declared the global offscreen
buffer at only 640x480, so the hardware plugin rejected the URDF.
Standardizing to 1280x720 everywhere keeps the included ur5e wrist_camera
working in every UR-based config and avoids the same trap silently waiting
in the others.

space_satellite_sim_camera_cal kept at 1920x1080 (intentional higher
resolution for camera-intrinsics calibration data).

phoebe_sim (submodule) is not included; it needs a separate PR in
PickNikRobotics/phoebe_ws (and was already at 1280x720 anyway).

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
---
 src/april_tag_sim/description/scene.xml          |  6 +++++-
 src/dual_arm_sim/description/mujoco/scene.xml    | 10 ++++++++--
 src/factory_sim/description/scene.xml            |  6 +++---
 src/grinding_sim/description/scene.xml           |  4 ++--
 src/kitchen_sim/description/mujoco/scene.xml     |  6 +++---
 src/lab_sim/description/scene.xml                | 16 +++++++++++-----
 .../kinova_sim/description/mujoco/gen3_7dof.xml  |  2 +-
 .../mujoco/gen3_7dof_rafti_fingers.xml           |  2 +-
 .../description/mujoco/landsat_scene.xml         |  4 ++--
 .../description/mujoco/rafti_fingers_scene.xml   |  4 ++--
 .../kinova_sim/description/mujoco/scene.xml      |  4 ++--
 .../description/mujoco/gen3_7dof_body.xml        |  2 +-
 .../description/mujoco/scene.xml                 |  6 +++---
 13 files changed, 44 insertions(+), 28 deletions(-)

diff --git a/src/april_tag_sim/description/scene.xml b/src/april_tag_sim/description/scene.xml
index 9e3ab7079..962a5674d 100644
--- a/src/april_tag_sim/description/scene.xml
+++ b/src/april_tag_sim/description/scene.xml
@@ -8,6 +8,10 @@
 
   <option integrator="implicitfast" timestep="0.003" />
 
+  <visual>
+    <global offwidth="1280" offheight="720" />
+  </visual>
+
   <asset>
     <mesh name="cube" file="assets/Cube.stl" />
   </asset>
@@ -39,7 +43,7 @@
       pos="-1.0 -2.0 2.966"
       fovy="58"
       mode="fixed"
-      resolution="640 480"
+      resolution="1280 720"
       euler="0.849 0.000 0.0"
     />
     <!-- lab desk -->
diff --git a/src/dual_arm_sim/description/mujoco/scene.xml b/src/dual_arm_sim/description/mujoco/scene.xml
index 4e6886063..666dab1df 100644
--- a/src/dual_arm_sim/description/mujoco/scene.xml
+++ b/src/dual_arm_sim/description/mujoco/scene.xml
@@ -6,7 +6,13 @@
   <size nuser_jnt="0" />
 
   <visual>
-    <global azimuth="120" elevation="-21" fovy="58" />
+    <global
+      azimuth="120"
+      elevation="-21"
+      fovy="58"
+      offwidth="1280"
+      offheight="720"
+    />
     <headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0" />
     <rgba haze="0.15 0.25 0.35 1" />
   </visual>
@@ -53,7 +59,7 @@
       pos="0.7 0.0 0.65"
       fovy="58"
       mode="fixed"
-      resolution="640 480"
+      resolution="1280 720"
       xyaxes="0 -1 0 1 0 0"
     />
     <geom
diff --git a/src/factory_sim/description/scene.xml b/src/factory_sim/description/scene.xml
index f43077048..952d8081c 100644
--- a/src/factory_sim/description/scene.xml
+++ b/src/factory_sim/description/scene.xml
@@ -53,7 +53,7 @@
   <visual>
     <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0" />
     <rgba haze="0.15 0.25 0.35 1" />
-    <global azimuth="120" elevation="-20" />
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
   </visual>
 
   <!-- Add Fanuc support files -->
@@ -74,7 +74,7 @@
       pos="-1.046 1.252 2.019"
       fovy="58"
       mode="fixed"
-      resolution="640 480"
+      resolution="1280 720"
       xyaxes="-0.607 -0.795 0.000 0.555 -0.424 0.715"
     />
     <site
@@ -88,7 +88,7 @@
       pos="-0.25 0.6 0.85"
       fovy="58"
       mode="fixed"
-      resolution="640 480"
+      resolution="1280 720"
       xyaxes="0 -1 0 1 0 0"
     />
     <site
diff --git a/src/grinding_sim/description/scene.xml b/src/grinding_sim/description/scene.xml
index 974b4bb7b..2041c4d8d 100644
--- a/src/grinding_sim/description/scene.xml
+++ b/src/grinding_sim/description/scene.xml
@@ -97,7 +97,7 @@
   <visual>
     <headlight diffuse="0.6 0.6 0.6" ambient="0.1 0.1 0.1" specular="0 0 0" />
     <rgba haze="0.15 0.25 0.35 1" />
-    <global azimuth="120" elevation="-20" />
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
   </visual>
 
   <worldbody>
@@ -138,7 +138,7 @@
       pos="0.0 -2.56685 1.62333"
       fovy="58"
       mode="fixed"
-      resolution="640 480"
+      resolution="1280 720"
       quat="0.916616 0.399763 -0.000804 -0.001843"
     />
 
diff --git a/src/kitchen_sim/description/mujoco/scene.xml b/src/kitchen_sim/description/mujoco/scene.xml
index ffc9c1934..1d3cb728f 100644
--- a/src/kitchen_sim/description/mujoco/scene.xml
+++ b/src/kitchen_sim/description/mujoco/scene.xml
@@ -16,7 +16,7 @@
   <visual>
     <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
     <rgba haze="0.15 0.25 0.35 1" />
-    <global azimuth="120" elevation="-20" />
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
   </visual>
 
   <asset>
@@ -62,7 +62,7 @@
     <camera
       name="scene_camera"
       fovy="48"
-      resolution="640 480"
+      resolution="1280 720"
       pos="-0.476 -0.378 2.733"
       xyaxes="0.510 -0.860 0.000 0.666 0.395 0.633"
     />
@@ -77,7 +77,7 @@
     <camera
       name="back_camera"
       fovy="48"
-      resolution="640 480"
+      resolution="1280 720"
       pos="-0.661 0.324 1.325"
       xyaxes="0.026 -1.000 0.000 0.062 0.002 0.998"
     />
diff --git a/src/lab_sim/description/scene.xml b/src/lab_sim/description/scene.xml
index 2b368cfbe..674b64dda 100644
--- a/src/lab_sim/description/scene.xml
+++ b/src/lab_sim/description/scene.xml
@@ -6,7 +6,12 @@
 
   <compiler angle="radian" autolimits="true" />
 
-  <option integrator="implicitfast" timestep="0.003" impratio="10" noslip_iterations="3" />
+  <option
+    integrator="implicitfast"
+    timestep="0.003"
+    impratio="10"
+    noslip_iterations="3"
+  />
 
   <!-- nuser_cam=1 enables per-camera user params: 0=RGB+Depth, 1=RGB-only, 2=3D-lidar -->
   <!-- memory: arena size for contacts/constraints. MuJoCo 3.3+ stopped growing the arena
@@ -84,10 +89,11 @@
     />
   </asset>
 
-  <!-- Set offscreen rendering resolution to match camera sensor resolution (640x480) so that
-       MuJoCo renders images at the correct size for the simulated wrist and scene cameras. -->
+  <!-- Set offscreen rendering resolution to fit the largest camera in this scene
+       (scene_camera at 1280x720, defined below). picknik_mujoco_ros requires
+       <global offwidth offheight> >= every camera's resolution or load fails. -->
   <visual>
-    <global offwidth="640" offheight="480" />
+    <global offwidth="1280" offheight="720" />
     <headlight ambient="0.3 0.3 0.3" diffuse="0.5 0.5 0.5" />
   </visual>
 
@@ -124,7 +130,7 @@
       pos="1.8 -0.495 1.0"
       fovy="58"
       mode="fixed"
-      resolution="640 480"
+      resolution="1280 720"
       xyaxes="0.586 0.810 0.000 -0.186 0.135 0.973"
       user="0"
     />
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof.xml
index c306c66a2..d22ea338f 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof.xml
@@ -320,7 +320,7 @@
                       pos="0.0 -0.056 -0.058"
                       fovy="58"
                       mode="fixed"
-                      resolution="640 480"
+                      resolution="1280 720"
                       quat="0.0 0.0 0.0 1.0"
                     />
                     <site
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof_rafti_fingers.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof_rafti_fingers.xml
index 41444a8a2..a00eb8649 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof_rafti_fingers.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/gen3_7dof_rafti_fingers.xml
@@ -320,7 +320,7 @@
                       pos="0.0 -0.056 -0.058"
                       fovy="58"
                       mode="fixed"
-                      resolution="640 480"
+                      resolution="1280 720"
                       quat="0.0 0.0 0.0 1.0"
                     />
                     <site
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml
index 29f026086..7166af73f 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/landsat_scene.xml
@@ -13,7 +13,7 @@
   <visual>
     <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
     <rgba haze="0.15 0.25 0.35 1" />
-    <global azimuth="120" elevation="-20" />
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
   </visual>
 
   <asset>
@@ -58,7 +58,7 @@
       pos="-0.5 0.75 1.5"
       fovy="75"
       mode="fixed"
-      resolution="640 480"
+      resolution="1280 720"
       quat="0.365715 0.232986 -0.484157 -0.759975"
     />
     <site
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml
index efc905c4b..d6b97f2ca 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/rafti_fingers_scene.xml
@@ -9,7 +9,7 @@
   <visual>
     <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
     <rgba haze="0.15 0.25 0.35 1" />
-    <global azimuth="120" elevation="-20" />
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
   </visual>
 
   <asset>
@@ -65,7 +65,7 @@
       pos="0.0 0.3 0.55"
       fovy="58"
       mode="fixed"
-      resolution="640 480"
+      resolution="1280 720"
       quat="0.365715 0.232986 -0.484157 -0.759975"
     />
     <site
diff --git a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml
index fcdc5cd0e..c284eb388 100644
--- a/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml
+++ b/src/moveit_pro_kinova_configs/kinova_sim/description/mujoco/scene.xml
@@ -9,7 +9,7 @@
   <visual>
     <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
     <rgba haze="0.15 0.25 0.35 1" />
-    <global azimuth="120" elevation="-20" />
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
   </visual>
 
   <asset>
@@ -65,7 +65,7 @@
       pos="0.0 0.3 0.55"
       fovy="58"
       mode="fixed"
-      resolution="640 480"
+      resolution="1280 720"
       quat="0.365715 0.232986 -0.484157 -0.759975"
     />
     <site
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/gen3_7dof_body.xml b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/gen3_7dof_body.xml
index 275b12a71..12756b5a8 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/gen3_7dof_body.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/gen3_7dof_body.xml
@@ -136,7 +136,7 @@
                     pos="0.0 -0.056 -0.058"
                     fovy="58"
                     mode="fixed"
-                    resolution="640 480"
+                    resolution="1280 720"
                     quat="0.0 0.0 0.0 1.0"
                   />
                   <site
diff --git a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/scene.xml b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/scene.xml
index 89cc0d519..c8601ae28 100644
--- a/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/scene.xml
+++ b/src/moveit_pro_kinova_configs/space_satellite_sim/description/mujoco/scene.xml
@@ -12,7 +12,7 @@
   <visual>
     <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
     <rgba haze="0.15 0.25 0.35 1" />
-    <global azimuth="120" elevation="-20" />
+    <global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
   </visual>
 
   <asset>
@@ -90,7 +90,7 @@
       pos="-0.3 0.3 1.0"
       fovy="58"
       mode="fixed"
-      resolution="640 480"
+      resolution="1280 720"
       euler="0 -1.0472 -1.5708"
     />
     <site
@@ -186,7 +186,7 @@
         pos="0.6 1 0"
         fovy="58"
         mode="fixed"
-        resolution="640 480"
+        resolution="1280 720"
         euler="1.5708 -2 0.0"
         user="1"
       />

From d8aebf30d36333d9c2797e795700cd1b1935ea2a Mon Sep 17 00:00:00 2001
From: Dave Coleman <dave@picknik.ai>
Date: Thu, 21 May 2026 14:24:34 -0600
Subject: [PATCH 3/3] ci: switch to GPU runner via moveit_pro_ci v0.3.1,
 surface per-objective test progress

Two CI-infra changes folded together:

1. Bump the reusable workflow ref to PickNikRobotics/moveit_pro_ci v0.3.1, set enable_gpu: true, and switch the runner label from picknik-16-amd64 to picknik-16-amd64-gpu. v0.3.1 appends the CUDA image suffix when enable_gpu is true (moveit_pro_ci#26) -- without it, v0.3.0 set the label but kept the non-CUDA image, so MuJoCo's EGL rendering still ran through llvmpipe on CPU.

2. Add src/lab_sim/test/conftest.py with two pytest hooks (logstart, logreport) that write directly to fd 2, bypassing pytest's --capture=fd. Without this, a CTest timeout kills pytest before any per-test output is flushed, leaving the CI log silent past 'collected N items'. The hooks emit START / PASSED|FAILED|SKIPPED + duration for every test, so the next timeout (if any) names the offending objective.
---
 .github/workflows/ci.yaml    | 19 ++++++++---
 src/lab_sim/test/conftest.py | 62 ++++++++++++++++++++++++++++++++++++
 2 files changed, 76 insertions(+), 5 deletions(-)
 create mode 100644 src/lab_sim/test/conftest.py

diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 45d2cddeb..701747193 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -19,13 +19,22 @@ concurrency:
 
 jobs:
   integration-test-in-studio-container:
-    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@13d4cdf34697226ac67e34d93dda8b94fa477336 # v0.2.1
+    uses: PickNikRobotics/moveit_pro_ci/.github/workflows/workspace_integration_test.yaml@d490a1dfe91758dd1da3277fbd47b5b1efe5e0c3 # v0.3.1
     with:
-      image_tag: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.ref || github.ref_name }}
+      # Pinned to 9.3.0-rc9 while the main-branch CUDA images are not yet
+      # published; 9.2.1's moveit_pro_test_utils is too old (missing
+      # reset_simulation_before_test that lab_sim's integration test imports).
+      # The dynamic expression below would normally resolve to the PR's base
+      # branch (main) or the pushed ref. Revert once the main-* CUDA tags exist.
+      # image_tag: ${{ github.event_name == 'pull_request' && github.event.pull_request.base.ref || github.ref_name }}
+      image_tag: "9.3.0-rc9"
       colcon_test_args: "--executor sequential"
-      runner: "picknik-16-amd64"
-      # Coarsen MuJoCo timestep on CI (default 0.002s = 500Hz) so the heavier 3.6.0
-      # constraint solver stays at-or-under realtime on CI runners. See
+      runner: "picknik-16-amd64-gpu"
+      enable_gpu: true
+      # Re-assert MuJoCo timestep on CI as a backstop. Scene files in this repo
+      # are standardized to 0.003s, but this override catches any future scene
+      # whose include chain bypasses that standard, keeping the heavier 3.6.0
+      # constraint solver at-or-under realtime on CI runners. See
       # PickNikRobotics/moveit_pro#18534 for the underlying flake history.
       mujoco_ci_timestep: "0.003"
       use_ccache: true
diff --git a/src/lab_sim/test/conftest.py b/src/lab_sim/test/conftest.py
new file mode 100644
index 000000000..1890fef52
--- /dev/null
+++ b/src/lab_sim/test/conftest.py
@@ -0,0 +1,62 @@
+# Copyright 2026 PickNik Inc.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+#    * Redistributions of source code must retain the above copyright
+#      notice, this list of conditions and the following disclaimer.
+#
+#    * Redistributions in binary form must reproduce the above copyright
+#      notice, this list of conditions and the following disclaimer in the
+#      documentation and/or other materials provided with the distribution.
+#
+#    * Neither the name of the PickNik Inc. nor the names of its
+#      contributors may be used to endorse or promote products derived from
+#      this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+"""Live per-objective progress for objectives_integration_test.
+
+Pytest's default ``--capture=fd`` redirects fds 1 and 2, so when CTest kills
+the test on timeout (TIMEOUT 600 in CMakeLists.txt) all per-test output is
+lost and the CI log shows nothing past pytest's "collected N items" header.
+
+These hooks write directly to fd 2, bypassing the capture, so the CI log
+always shows which objective was running when the timeout fired and how long
+each completed objective took — the information needed to triage flakes,
+budget overruns, and runner regressions.
+"""
+
+import os
+import time
+
+_started_at: dict[str, float] = {}
+
+
+def pytest_runtest_logstart(nodeid, location):
+    _started_at[nodeid] = time.monotonic()
+    os.write(2, f"  START   {nodeid}\n".encode())
+
+
+def pytest_runtest_logreport(report):
+    if report.when != "call":
+        return
+    nodeid = report.nodeid
+    elapsed = time.monotonic() - _started_at.get(nodeid, time.monotonic())
+    outcome = report.outcome.upper()  # PASSED / FAILED / SKIPPED
+    line = f"  {outcome:7s} {nodeid} ({elapsed:.1f}s)"
+    if report.failed and report.longrepr:
+        reason = str(report.longrepr).splitlines()[-1][:200]
+        line += f"\n    └─ {reason}"
+    os.write(2, (line + "\n").encode())