fix action space bugs for bp

2022-05-03 21:34:39 +02:00
parent 2fbde9fbb1
commit 640f3b2d90
2 changed files with 3 additions and 3 deletions
@@ -70,7 +70,7 @@ class EpisodicWrapper(gym.Env, ABC):
        ignore_indices = int(self.mp.learn_tau) + int(self.mp.learn_delay)
        scaled_mp_params = action.copy()
        scaled_mp_params[ignore_indices:] *= self.weight_scale
-        self.mp.set_params(scaled_mp_params)
+        self.mp.set_params(np.clip(scaled_mp_params, self.mp_action_space.low, self.mp_action_space.high))
        self.mp.set_boundary_conditions(bc_time=self.time_steps[:1], bc_pos=self.current_pos, bc_vel=self.current_vel)
        traj_dict = self.mp.get_mp_trajs(get_pos = True, get_vel = True)
        trajectory_tensor, velocity_tensor = traj_dict['pos'], traj_dict['vel']