Added proper action clipping to MP

2021-06-24 11:38:30 +02:00 · 2021-06-24 11:38:30 +02:00 · 6b0dfd7c24
commit 6b0dfd7c24
parent 746d408a76
1 changed files with 1 additions and 0 deletions
--- a/alr_envs/utils/mps/mp_wrapper.py
+++ b/alr_envs/utils/mps/mp_wrapper.py
@ -74,6 +74,7 @@ class MPWrapper(gym.Wrapper, ABC):

        for t, pos_vel in enumerate(zip(trajectory, velocity)):
            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)
            rewards += rew
            # TODO return all dicts?