[ODE] Changing simulation step size

[Marcus Brubaker]

Hi,

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 
two questions:

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?

Thanks.

Regards,
Marcus