fix bug with actions being modified after step

mees · Nov 5, 2022 · 27a27a2 · 27a27a2
1 parent 6e7ceaa
commit 27a27a2
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/calvin_env/robot/robot.py b/calvin_env/robot/robot.py
@@ -227,6 +227,7 @@ def get_observation_labels(self):
 
     def relative_to_absolute(self, action):
         assert len(action) == 7
+        action = np.copy(action)
         rel_pos, rel_orn, gripper = np.split(action, [3, 6])
         rel_pos *= self.max_rel_pos * self.magic_scaling_factor_pos
         rel_orn *= self.max_rel_orn * self.magic_scaling_factor_orn