follow up on tuning solver_ref and solver_imp params

[shivanimall]

Hi @yuvaltassa thanks for the response on #63. re-posting so that the q doesn't get missed.

I tried reducing solref for all geoms to [0.004, 1.], plus trying control time-step range from 1/20 to 1/100 but facing the same issue. To note, I use composite objects with different sizes in different episode runs. (I create procedurally generated objects in robosuite, as here)

Would I need to further fine-tune based on object size? Many thanks for your help!

[yuvaltassa]

Following up in #63.