[ODE] Changing simulation step size
aurelius.marcus at rogers.com
Thu Aug 11 17:30:04 MST 2005
I have a simulation of walking legs which is run by a controller. I've
tweaked and gotten things working with the initial stepsize that I chose
(0.0025) but I'd like to be able to change the step size. Thus I have
1) If I change the step size, do I need to adjust ERP and CFM parameters
in any particular way?
2) Right now at every timestep I add an amount of torque to each joint.
Does this value need to be scaled somehow or will it remain the same
irregardless of step size?
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