🎯 Updates number of solve iterations

2024-08-22 20:56:05 +02:00
parent 55eecdc8d7
commit 8c21f3e2e4
1 changed files with 2 additions and 0 deletions
@@ -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")