Modifiying Physics parameters

[tsgtdss583]

I am using a step time of 0.02 other than the default 1/240. as per the document, I need to modify the physics parameters such as ERP accordingly. I am a beginner to pybullet trying to get my head around, some trivial questions that I could not understand:
1, how do we modify the physics paras? should we use this from ODE physics,
ERP = h kp / (h kp + kd) where h is the stepsize (i guess the step refers to the time step 0.02 in this case)? or it's still fine not to change physics paras eventhough the step time is changed to 0.02?
2, what are the default values of ERP in the pybullet?
3, where can I find the source code of the pybullet.setJointMotorControlArray?