pybullet: improvements in Gym Ant environment (work-in-progress)

2017-09-07 11:06:42 -07:00
parent 7a2de3ea08
commit 3d702879c5
5 changed files with 7 additions and 7 deletions
--- a/examples/pybullet/gym/pybullet_envs/scene_abstract.py
+++ b/examples/pybullet/gym/pybullet_envs/scene_abstract.py
@@ -68,7 +68,8 @@ class World:
 	def clean_everything(self):
 		p.resetSimulation()
 		p.setGravity(0, 0, -self.gravity)
-		p.setPhysicsEngineParameter(fixedTimeStep=self.timestep, numSolverIterations=5, numSubSteps=2)
+		p.setDefaultContactERP(0.9)
+		p.setPhysicsEngineParameter(fixedTimeStep=self.timestep, numSolverIterations=5, numSubSteps=4)

 	def step(self, frame_skip):
 		p.stepSimulation()