5524ed3cc7fb7be35d75657a3f8e620ae9a40d1a,osim/env/osim.py,OsimEnv,step,#OsimEnv#Any#,174

Before Change

            self.osim_model.state = self.manager.integrate(self.stepsize * (self.istep + 1))
        except Exception as e:
            print (e)
            return self.get_observation(), -500, True, {}

        self.istep = self.istep + 1

        res = [ self.get_observation(), self.compute_reward(), self.is_done(), {} ]

After Change

    def step(self, action):
        self.osim_model.actuate(action)
        self.osim_model.integrate()
        return [ self.get_observation(), self.reward(), self.is_done() or (self.osim_model.istep >= self.spec.timestep_limit), {} ]

    def render(self, mode="human", close=False):
        return

Instances