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initial params
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is2ac2 committed Jul 9, 2024
1 parent b0fc9e5 commit cb8592b
Showing 1 changed file with 2 additions and 1 deletion.
3 changes: 2 additions & 1 deletion sim/humanoid_gym/envs/stompy_config.py
Original file line number Diff line number Diff line change
Expand Up @@ -137,7 +137,8 @@ class physx(LeggedRobotCfg.sim.physx):
contact_offset = 0.01 # [m] THIS
rest_offset = -0.02 # [m] THIS
bounce_threshold_velocity = 0.1 # [m/s]
max_depenetration_velocity = 1.0
# max_depenetration_velocity = 1.0
mx_depenetration_velocity = 0.0
max_gpu_contact_pairs = 2**23 # 2**24 -> needed for 8000 envs and more
default_buffer_size_multiplier = 5
# 0: never, 1: last sub-step, 2: all sub-steps (default=2)
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