fix

haosulab · Mar 6, 2024 · 67f38b2 · 67f38b2
1 parent 4369cae
commit 67f38b2
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/mani_skill2/envs/scenes/tasks/pick.py b/mani_skill2/envs/scenes/tasks/pick.py
@@ -382,7 +382,12 @@ def compute_dense_reward(self, obs: Any, action: torch.Tensor, info: Dict):
 
             new_info = dict()
             for k in ["elapsed_steps", "success", "fail", "is_grasped", "robot_force", "robot_cumulative_force"]:
-                new_info[k] = info[k].clone()
+                if isinstance(new_info[k], torch.Tensor):
+                    new_info[k] = info[k].clone()
+                elif isinstance(new_info[k], np.ndarray):
+                    new_info[k] = info[k].copy()
+                else:
+                    new_info[k] = info[k]
 
             if torch.any(robot_too_far):
                 # prevent torso and arm moving too much