From 8c21f3e2e4f6d92bd23bda7d4f40a0a42378f920 Mon Sep 17 00:00:00 2001
From: Rune Harlyk <rune@harlyk.dk>
Date: Thu, 22 Aug 2024 20:56:05 +0200
Subject: [PATCH] =?UTF-8?q?=F0=9F=8E=AF=20Updates=20number=20of=20solve=20?=
 =?UTF-8?q?iterations?=
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---
 simulation/simulation/environment.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/simulation/simulation/environment.py b/simulation/simulation/environment.py
index 10357d6..66a773f 100644
--- a/simulation/simulation/environment.py
+++ b/simulation/simulation/environment.py
@@ -15,6 +15,7 @@ class QuadrupedEnv:
         p.setGravity(0, 0, -9.8)
         p.setTimeStep(1 / 240)
         self.urdf_path = urdf_path
+        self.numSolverIterations = 50
 
         self.setupWorld()
         self.gui = GUI(self.robot.robot_id)
@@ -23,6 +24,7 @@ class QuadrupedEnv:
 
     def setupWorld(self):
         p.resetSimulation()
+        p.setPhysicsEngineParameter(numSolverIterations=self.numSolverIterations)
         p.setGravity(0, 0, -9.8)
 
         self.plane_id = p.loadURDF("plane.urdf")