Add cloning of observation to prevent bug

MushroomRL · Oct 15, 2024 · cab144d · cab144d
1 parent 7ba72ab
commit cab144d
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/mushroom_rl/environments/isaac_env.py b/mushroom_rl/environments/isaac_env.py
@@ -91,7 +91,7 @@ def reset_all(self, env_mask, state=None):
         # self._world.step(render=self._render) # TODO Check if we can do otherwise
         task_obs = self._task.get_observations()
         observation = convert_task_observation(task_obs)
-        return observation, [{}]*self._n_envs
+        return observation.clone(), [{}]*self._n_envs
 
     def step_all(self, env_mask, action):
         self._task.pre_physics_step(action)
@@ -106,7 +106,7 @@ def step_all(self, env_mask, action):
 
         env_mask_cuda = torch.as_tensor(env_mask).cuda()
 
-        return observation, reward, torch.logical_and(done, env_mask_cuda), [info]*self._n_envs
+        return observation.clone(), reward, torch.logical_and(done, env_mask_cuda), [info]*self._n_envs
 
     def render_all(self, env_mask, record=False):
         self._world.render()