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Fix the wrong nstep in _step_mujoco_simulation function of class MujocoEnv (#424)

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xuanhien070594
2023-04-01 07:30:26 -04:00
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parent 470f256996
commit 7094298ad4
1 changed files with 1 additions and 1 deletions
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gymnasium/envs/mujoco/mujoco_env.py
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@@ -368,7 +368,7 @@ class MujocoEnv(BaseMujocoEnv):
def _step_mujoco_simulation(self, ctrl, n_frames): def _step_mujoco_simulation(self, ctrl, n_frames):
self.data.ctrl[:] = ctrl self.data.ctrl[:] = ctrl
mujoco.mj_step(self.model, self.data, nstep=self.frame_skip) mujoco.mj_step(self.model, self.data, nstep=n_frames)
# As of MuJoCo 2.0, force-related quantities like cacc are not computed # As of MuJoCo 2.0, force-related quantities like cacc are not computed
# unless there's a force sensor in the model. # unless there's a force sensor in the model.