[BUG] Wine Bottles Take Damage Over Time After Initial Scene Load - RoboCasa

[NoYume]

📝 Description

Clearly describe the problem.
Loading the shelve_item task environment, the wine bottle decreases in 0.1 points of health every few milliseconds (every few steps in the env)

🔁 Steps to Reproduce

1. Run the teleop script for RoboCasa and load the shelve_item task env using the --health-hud flag
2. Don't move anything, and let the environment run for a few steps to see the damage values change on the health HUD

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✅ Expected Behavior

What should happen?
The wine bottles should not be taking any damage during the initial load of the task environment and shouldn't be taken any damage if there isn't any direct unsafe behavior towards the objects (standing still)

❌ Actual Behavior

What actually happens?
The wine bottles are being damaged at a constant rate without any direct interaction with them

📋 Logs / Error Messages

Paste stack traces or screenshots.

Playing back demo 1/1: demo_0
  100/345 steps
  200/345 steps
  300/345 steps
  Done in 107.0s
Episode: demo_0
  cereal final health: 92.0%
  wine_1 final health: 95.6%
  wine_glass final health: 100.0%
  wine_2 final health: 98.1%
  flour_bag final health: 100.0%
  PandaOmron final health: 100.0%

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Health Metrics Summary
========================================
  PandaOmron: avg final health = 100.0%
  cereal: avg final health = 92.0%
  flour_bag: avg final health = 100.0%
  wine_1: avg final health = 95.6%
  wine_2: avg final health = 98.1%
  wine_glass: avg final health = 100.0%
  Overall env: avg final health = 97.6%

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🧩 Additional Context

Anything else helpful.
I changed the damage parameters equal to the wine glass, and the wine bottle kept having consistent damage taken.