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Added code for issue #2036

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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
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gaurav pathak
2019-01-03 18:17:08 -05:00
committed by GitHub
parent 8bc1c8e01b
commit 7f73081a89
1 changed files with 2 additions and 0 deletions
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examples/pybullet/gym/pybullet_envs/deep_mimic/humanoid_deepmimic_gym_env.py
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@@ -150,6 +150,8 @@ class HumanoidDeepMimicGymEnv(gym.Env):
for s in range (8): for s in range (8):
#print("step:",s) #print("step:",s)
self._pybullet_client.stepSimulation() self._pybullet_client.stepSimulation()
self._initial_frame = self._initial_frame + self._control_time_step
self._humanoid.setSimTime(self._initial_frame)
reward = self._reward() reward = self._reward()
done = self._termination() done = self._termination()
self._env_step_counter += 1 self._env_step_counter += 1