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"""Wrapper for clipping actions within a valid bound."""
import numpy as np
import gym
from gym import ActionWrapper
from gym.spaces import Box
class ClipAction(ActionWrapper):
"""Clip the continuous action within the valid :class:`Box` observation space bound.
Example:
>>> import gym
>>> env = gym.make('Bipedal-Walker-v3')
>>> env = ClipAction(env)
>>> env.action_space
Box(-1.0, 1.0, (4,), float32)
>>> env.step(np.array([5.0, 2.0, -10.0, 0.0]))
# Executes the action np.array([1.0, 1.0, -1.0, 0]) in the base environment
"""
def __init__(self, env: gym.Env):
"""A wrapper for clipping continuous actions within the valid bound.
Args:
env: The environment to apply the wrapper
"""
assert isinstance(env.action_space, Box)
super().__init__(env)
def action(self, action):
"""Clips the action within the valid bounds.
Args:
action: The action to clip
Returns:
The clipped action
"""
return np.clip(action, self.action_space.low, self.action_space.high)
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