Darkages/SpotMicroESP32-Leika
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🎯 Updates number of solve iterations

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Rune Harlyk
2024-08-22 20:56:05 +02:00
committed by Rune Harlyk
parent 55eecdc8d7
commit 8c21f3e2e4
1 changed files with 2 additions and 0 deletions
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simulation/simulation/environment.py
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@@ -15,6 +15,7 @@ class QuadrupedEnv:
p.setGravity(0, 0, -9.8) p.setGravity(0, 0, -9.8)
p.setTimeStep(1 / 240) p.setTimeStep(1 / 240)
self.urdf_path = urdf_path self.urdf_path = urdf_path
self.numSolverIterations = 50
self.setupWorld() self.setupWorld()
self.gui = GUI(self.robot.robot_id) self.gui = GUI(self.robot.robot_id)
@@ -23,6 +24,7 @@ class QuadrupedEnv:
def setupWorld(self): def setupWorld(self):
p.resetSimulation() p.resetSimulation()
p.setPhysicsEngineParameter(numSolverIterations=self.numSolverIterations)
p.setGravity(0, 0, -9.8) p.setGravity(0, 0, -9.8)
self.plane_id = p.loadURDF("plane.urdf") self.plane_id = p.loadURDF("plane.urdf")