Merge pull request #2041 from gsp-27/gsp-27-patch-1

Added code for issue #2036
2019-01-04 07:56:14 -08:00
parent 32282fece0 7f73081a89
commit 101429e6a3
1 changed files with 2 additions and 0 deletions
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/humanoid_deepmimic_gym_env.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/humanoid_deepmimic_gym_env.py
@@ -150,6 +150,8 @@ class HumanoidDeepMimicGymEnv(gym.Env):
    for s in range (8):
      #print("step:",s)
      self._pybullet_client.stepSimulation()
+    self._initial_frame = self._initial_frame + self._control_time_step
+    self._humanoid.setSimTime(self._initial_frame)
    reward = self._reward()
    done = self._termination()
    self._env_step_counter += 1