update default gains for robot joints

cremebrule · cremebrule · commit 241387d9e20c · 2021-02-01T11:44:58.000-08:00
diff --git a/robosuite/models/robots/robot_model.py b/robosuite/models/robots/robot_model.py
@@ -68,8 +68,10 @@ def __init__(self, fname, idn=0):
         self.cameras = self.get_element_names(self.worldbody, "camera")
 
         # By default, set small frictionloss and armature values
-        self.set_joint_attribute(attrib="frictionloss", values=0.01 * np.ones(self.dof), force=False)
-        self.set_joint_attribute(attrib="armature", values=0.01 * np.ones(self.dof), force=False)
+        self.set_joint_attribute(attrib="frictionloss", values=0.1 * np.ones(self.dof), force=False)
+        self.set_joint_attribute(attrib="damping", values=0.1 * np.ones(self.dof), force=False)
+        self.set_joint_attribute(attrib="armature",
+                                 values=np.array([5.0 / (i + 1) for i in range(self.dof)]), force=False)
 
     def set_base_xpos(self, pos):
         """
