Numerical solver used in Pybullet

[vishnu02saj]

Hi,
I would like to know what kind of numerical solver does pybullet use? Is it a fixed-time step solver or variable-time step solver? I know we can change the pybullet frequency, but do we have options for solvers? Can I choose a fixed time-step solver for example ode1(Euler) or say ode4(Runga-Kutta) and specify the time step I want? If so how do I do that? (By default, PyBullet uses a sequential impulse solver is what I read which I think uses an adaptive time step).