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Added proper action clipping to MP

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ottofabian 2021-06-24 11:38:30 +02:00
parent 746d408a76
commit 6b0dfd7c24
1 changed files with 1 additions and 0 deletions
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alr_envs/utils/mps/mp_wrapper.py
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@ -74,6 +74,7 @@ class MPWrapper(gym.Wrapper, ABC):
for t, pos_vel in enumerate(zip(trajectory, velocity)): for t, pos_vel in enumerate(zip(trajectory, velocity)):
ac = self.policy.get_action(pos_vel[0], pos_vel[1]) ac = self.policy.get_action(pos_vel[0], pos_vel[1])
ac = np.clip(ac, self.env.action_space.low, self.env.action_space.high)
obs, rew, done, info = self.env.step(ac) obs, rew, done, info = self.env.step(ac)
rewards += rew rewards += rew
# TODO return all dicts? # TODO return all dicts?