From 7f73081a890fa4b8192dae6a0de9891b245d78bd Mon Sep 17 00:00:00 2001 From: gaurav pathak Date: Thu, 3 Jan 2019 18:17:08 -0500 Subject: [PATCH] Added code for issue #2036 Made necessary changes to ```humanoid_deep_mimic_env.py``` file, setting ```initial_frame``` to new position after simulation steps and setting ```SimTime``` using this new initial frame time --- .../gym/pybullet_envs/deep_mimic/humanoid_deepmimic_gym_env.py | 2 ++ 1 file changed, 2 insertions(+) diff --git 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 index 9e1a674f2..cb7a0c0a3 100644 --- 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