Hello, should the IDM output action in the code be aligned with the real action in the metadrive. Since IDM outputs real world action, should it be normalized to align with the action interval supported by metadrive? Also when I was reading your code I noticed that cropping is done directly on the IDM output action, but is the action interval already aligned with the action interval in metadrive?
takeover_action = safe_clip(np.array(info["raw_action"]), -1, 1) agent_action = safe_clip(np.array(self.input_action), -1, 1)