diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py
index f5f40fe29..c846ed33b 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py
@@ -816,7 +816,7 @@ class HumanoidStablePD(object):
     root_ang_vel_err = self.calcRootAngVelErr(angVelSim, angVelKin)
     vel_err += root_rot_w * root_ang_vel_err
 
-    useArray = False
+    useArray = True
     
     if useArray:
       jointIndices = range(num_joints)