increase simulation frequency to 5000Hz

2022-02-09 16:17:00 +08:00 · 2022-02-09 16:17:00 +08:00 · 7325aa56ec
parent e8067df872
commit 7325aa56ec
1 changed files with 2 additions and 2 deletions
--- a/unitree_gazebo/worlds/earth.world
+++ b/unitree_gazebo/worlds/earth.world
@ -3,9 +3,9 @@
    <world name="default">

        <physics type="ode">
-        <max_step_size>0.001</max_step_size>
+        <max_step_size>0.0002</max_step_size>
        <real_time_factor>1</real_time_factor>
-        <real_time_update_rate>1000</real_time_update_rate>
+        <real_time_update_rate>5000</real_time_update_rate>
        <gravity>0 0 -9.81</gravity>
            <ode>
                <solver>