KukaDiverseObjectGrasping-v0 doesn't move its effector straight down

[Rendok]

Hi,

If I change 'actionRepeat' to 1, the effector doesn't move straight down.

import pybullet_envs.bullet.kuka_diverse_object_gym_env as e

env = e.KukaDiverseObjectEnv(renders=True,
                             numObjects=3,
                             removeHeightHack=True,
                             maxSteps=100,
                             actionRepeat=1  # it works for 'actionRepeat=80', though
                             )
env.reset()
for _ in range(100): 
    obs, rew, done, _ = env.step([0, 0, -1, 0])  # it has to move staight down

Also, When I execute 'env.step()' after 'maxSteps' limit and the effector touches the bin, it behaves incorectly too.

import pybullet_envs.bullet.kuka_diverse_object_gym_env as e

env = e.KukaDiverseObjectEnv(renders=True,
                             numObjects=3,
                             removeHeightHack=True,
                             maxSteps=5,
                             actionRepeat=80 
                             )
env.reset()
for _ in range(500):  
    obs, rew, done, _ = env.step([0, 0, -1, 0])  # has to move staight down

Thank you.

[waiyc]

i encountered this issue too. Once the z-axis value passed 0.0007, the end effector will not move straight up or straight down