ResetBasePositionAndOrientation didn't work while simulation is running.

[Omikaa]

I set a function in one step in the training env.And it is to test whether the drone flies out of the bound.
If it flies out of the bound that I set, the function will reset the drone's pos, orientation and velocity. Then I can give a punishment in reward, and the episode can be going on.
But when I use the function, I clip the pos first.And use pybullet.resetBasePositionAndOrientation to reset its pos.However, in the simulation environment, the quadrotor's pos will not be changed.
After running pybullet.stepSimulation, the value of the pos will become that is before clipping.
I have no idea why pybullet.stepsimulation doesn't work.

[JacopoPan]

Something like this should work, if it doesn't for you, please provide a minimal example of the problem

p.resetBasePositionAndOrientation(self.DRONE_IDS[nth_drone],
                                          pos,
                                          quat,
                                          physicsClientId=self.CLIENT
                                          )