Repository navigation
fix(join_blocks): disable midpoint integration to stop wall divergence on reset - #7
Merged
Merged
Conversation
…e on reset Since rcs-core 0.7.3 (mujoco 3.2.6 -> 3.10.0), MuJoCo integrates standalone free bodies with a midpoint step under implicitfast (added in 3.7). For the wall's heavily damped free joint (damping 1000) this diverges within a few steps of every reset; MuJoCo's instability auto-reset then restores qpos0, teleporting both blocks back onto the wall at the composer add pose. Enable invdiscrete for this task's model, which disables the midpoint step and restores the mujoco 3.2.6 behaviour the dataset was recorded with: blocks are randomized per seed again and the wall responds to pushes as before (20 N push: 1.5 mm vs 1.6 mm displacement on 3.2.6).
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Since rcs-core 0.7.3 (mujoco 3.2.6 -> 3.10.0), MuJoCo integrates standalone free bodies with a midpoint step under implicitfast (added in 3.7). For the wall's heavily damped free joint (damping 1000) this diverges within a few steps of every reset; MuJoCo's instability auto-reset then restores qpos0, teleporting both blocks back onto the wall at the composer add pose.
Enable invdiscrete for this task's model, which disables the midpoint step and restores the mujoco 3.2.6 behaviour the dataset was recorded with: blocks are randomized per seed again and the wall responds to pushes as before (20 N push: 1.5 mm vs 1.6 mm displacement on 3.2.6).