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Respect optional IsaacLab action bounds #36

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Respect optional IsaacLab action bounds #36

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17 changes: 13 additions & 4 deletions examples/online/main_isaaclab_onpolicy.py
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Original file line number Diff line number Diff line change
Expand Up @@ -116,7 +116,11 @@ def collect_rollouts(self) -> RolloutBatch:
jnp.array(obs_norm), deterministic=False
)
actions_np = np.array(actions)
actions_clipped = np.clip(actions_np, -1.0, 1.0)
actions_env = (
np.clip(actions_np, -1.0, 1.0)
if self.env.action_bound is not None
else actions_np
)
all_actions[t] = actions_np

# Generically collect algorithm-specific info
Expand All @@ -128,7 +132,7 @@ def collect_rollouts(self) -> RolloutBatch:
for k, v in info.items():
all_extras[k][t] = np.array(v)

next_obs, rewards, terminated, truncated, infos = self.env.step(actions_clipped)
next_obs, rewards, terminated, truncated, infos = self.env.step(actions_env)

all_rewards[t] = rewards[..., np.newaxis]
all_terminated[t] = terminated[..., np.newaxis]
Expand Down Expand Up @@ -209,8 +213,13 @@ def eval_and_save(self):
actions, _ = self.agent.sample_actions(
jnp.array(obs_norm), deterministic=True
)
actions_clipped = np.clip(np.array(actions), -1.0, 1.0)
obs, rewards, terminated, truncated, _ = self.env.step(actions_clipped)
actions_np = np.array(actions)
actions_env = (
np.clip(actions_np, -1.0, 1.0)
if self.env.action_bound is not None
else actions_np
)
obs, rewards, terminated, truncated, _ = self.env.step(actions_env)

eval_returns += rewards * (1 - eval_dones)
eval_lengths += 1 * (1 - eval_dones)
Expand Down
4 changes: 2 additions & 2 deletions flowrl/config/online/onpolicy_isaaclab_config.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
from dataclasses import dataclass
from typing import Any
from typing import Any, Optional

from .hb_config import EvalConfig, LogConfig

Expand All @@ -10,7 +10,7 @@ class Config:
device: str
task: str
algo: Any
action_bound: float
action_bound: Optional[float]
disable_bootstrap: bool
norm_obs: bool
train_frames: int
Expand Down