diff options
Diffstat (limited to 'examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py')
| -rw-r--r-- | examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py index 0c30e5b8e..b98d3b005 100644 --- a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py +++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/locomotion_gym_env.py @@ -457,6 +457,8 @@ class LocomotionGymEnv(gym.Env): for obj in self._dynamic_objects(): obj.pre_control_step(autonomous_object.AUTONOMOUS_ACTION) for _ in range(self._num_action_repeat): + for env_randomizer in self._env_randomizers: + env_randomizer.randomize_sub_step(self, i, self._num_action_repeat) self._robot.apply_action(action) for obj in self._dynamic_objects(): obj.update(self.get_time_since_reset(), self._observation_dict) |