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fix(join_blocks): disable midpoint integration to stop wall divergence on reset #7

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Merged
juelg merged 1 commit into from
Oct 17, 2026
Merged

fix(join_blocks): disable midpoint integration to stop wall divergence on reset #7

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5 changes: 5 additions & 0 deletions src/duobench/tasks/join_blocks.py
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,11 @@ class JoinBlocksTask(Task[JoinBlocksTaskConfig]):
@staticmethod
def add_task_mujoco(cfg: JoinBlocksTaskConfig, composer: ModelComposer, env_cfg: SimEnvCreatorConfig):
"""Add task-specific elements to the Mujoco scene."""
# MuJoCo >= 3.7 integrates standalone free bodies with a midpoint step under implicitfast, which diverges
# for the heavily damped wall joint; the resulting auto-reset teleports all objects back to their add pose.
# invdiscrete disables the midpoint step (behaviour of MuJoCo < 3.7, which the dataset was recorded with).
composer.spec.option.enableflags |= int(mj.mjtEnableBit.mjENBL_INVDISCRETE)

object2world = env_cfg.root_frame_to_world * cfg.object_center_to_root_frame

for name in cfg.objects_to_add:
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