diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/humanoid.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/humanoid.py
index b2ebf0994..1c7dbcc3a 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/humanoid.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/humanoid.py
@@ -438,18 +438,18 @@ class Humanoid(object):
         bc.resetJointStateMultiDof(humanoid,leftShoulder, pose._leftShoulderRot)
         bc.resetJointStateMultiDof(humanoid,leftElbow, pose._leftElbowRot)
     
-    bc.setJointMotorControlMultiDof(humanoid,chest,controlMode, targetPosition=pose._chestRot,positionGain=kp, force=200)
-    bc.setJointMotorControlMultiDof(humanoid,neck,controlMode,targetPosition=pose._neckRot,positionGain=kp, force=50)
-    bc.setJointMotorControlMultiDof(humanoid,rightHip,controlMode,targetPosition=pose._rightHipRot,positionGain=kp, force=200)
-    bc.setJointMotorControlMultiDof(humanoid,rightKnee,controlMode,targetPosition=pose._rightKneeRot,positionGain=kp, force=150)
-    bc.setJointMotorControlMultiDof(humanoid,rightAnkle,controlMode,targetPosition=pose._rightAnkleRot,positionGain=kp, force=90)
-    bc.setJointMotorControlMultiDof(humanoid,rightShoulder,controlMode,targetPosition=pose._rightShoulderRot,positionGain=kp, force=100)
-    bc.setJointMotorControlMultiDof(humanoid,rightElbow, controlMode,targetPosition=pose._rightElbowRot,positionGain=kp, force=60)
-    bc.setJointMotorControlMultiDof(humanoid,leftHip, controlMode,targetPosition=pose._leftHipRot,positionGain=kp, force=200)
-    bc.setJointMotorControlMultiDof(humanoid,leftKnee, controlMode,targetPosition=pose._leftKneeRot,positionGain=kp, force=150)
-    bc.setJointMotorControlMultiDof(humanoid,leftAnkle, controlMode,targetPosition=pose._leftAnkleRot,positionGain=kp, force=90)
-    bc.setJointMotorControlMultiDof(humanoid,leftShoulder, controlMode,targetPosition=pose._leftShoulderRot,positionGain=kp, force=100)
-    bc.setJointMotorControlMultiDof(humanoid,leftElbow, controlMode,targetPosition=pose._leftElbowRot,positionGain=kp, force=60)
+    bc.setJointMotorControlMultiDof(humanoid,chest,controlMode, targetPosition=pose._chestRot,positionGain=kp, force=[200])
+    bc.setJointMotorControlMultiDof(humanoid,neck,controlMode,targetPosition=pose._neckRot,positionGain=kp, force=[50])
+    bc.setJointMotorControlMultiDof(humanoid,rightHip,controlMode,targetPosition=pose._rightHipRot,positionGain=kp, force=[200])
+    bc.setJointMotorControlMultiDof(humanoid,rightKnee,controlMode,targetPosition=pose._rightKneeRot,positionGain=kp, force=[150])
+    bc.setJointMotorControlMultiDof(humanoid,rightAnkle,controlMode,targetPosition=pose._rightAnkleRot,positionGain=kp, force=[90])
+    bc.setJointMotorControlMultiDof(humanoid,rightShoulder,controlMode,targetPosition=pose._rightShoulderRot,positionGain=kp, force=[100])
+    bc.setJointMotorControlMultiDof(humanoid,rightElbow, controlMode,targetPosition=pose._rightElbowRot,positionGain=kp, force=[60])
+    bc.setJointMotorControlMultiDof(humanoid,leftHip, controlMode,targetPosition=pose._leftHipRot,positionGain=kp, force=[200])
+    bc.setJointMotorControlMultiDof(humanoid,leftKnee, controlMode,targetPosition=pose._leftKneeRot,positionGain=kp, force=[150])
+    bc.setJointMotorControlMultiDof(humanoid,leftAnkle, controlMode,targetPosition=pose._leftAnkleRot,positionGain=kp, force=[90])
+    bc.setJointMotorControlMultiDof(humanoid,leftShoulder, controlMode,targetPosition=pose._leftShoulderRot,positionGain=kp, force=[100])
+    bc.setJointMotorControlMultiDof(humanoid,leftElbow, controlMode,targetPosition=pose._leftElbowRot,positionGain=kp, force=[60])
   
     #debug space
     #if (False):