Add armature to hinges (#234)

ci-group · May 25, 2023 · 4b8d335 · 4b8d335
1 parent bac44f9
commit 4b8d335
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/runners/mujoco/revolve2/runners/mujoco/_local_runner.py b/runners/mujoco/revolve2/runners/mujoco/_local_runner.py
@@ -347,6 +347,9 @@ def _make_model(
                         os.remove(botfile.name)
 
             for joint in posed_actor.actor.joints:
+                # Add rotor inertia to joints. This value is arbitrarily chosen and appears stable enough.
+                # Fine-tuning the armature value might be needed later.
+                robot.find(namespace="joint", identifier=joint.name).armature = "0.002"
                 robot.actuator.add(
                     "position",
                     kp=5.0,