[gym/core] Fix corrupted robot proxy if model changes.

duburcqa · Mar 21, 2024 · 859b0e2 · 859b0e2
1 parent a51cc10
commit 859b0e2
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/python/gym_jiminy/common/gym_jiminy/common/envs/generic.py b/python/gym_jiminy/common/gym_jiminy/common/envs/generic.py
@@ -688,6 +688,7 @@ def reset(self,  # type: ignore[override]
 
         # Re-initialize some shared memories.
         # It is necessary because the robot may have changed.
+        self.robot = self.simulator.robot
         self.robot_state = self.simulator.robot_state
         self.sensor_measurements = OrderedDict(self.robot.sensor_measurements)