Minor cleanup

experiments/mpsc/config_overrides/mpsc_acados_quadrotor_2D_attitude.yaml

@@ -1,4 +1,4 @@
-safety_filter: nl_mpsc
+safety_filter: mpsc_acados
 sf_config:
   # LQR controller parameters
   q_mpc: [18, 0.1, 18, 0.5, 0.5, 0.0001]

safe_control_gym/controllers/ppo/ppo.py

@@ -45,6 +45,7 @@ def __init__(self,
         self.sf_penalty = 1
         self.use_safe_reset = False
         super().__init__(env_func, training, checkpoint_path, output_dir, use_gpu, seed, **kwargs)
+
         # Task.
         if self.training:
             # Training and testing.
@@ -237,14 +238,15 @@ def run(self,
             action = self.select_action(obs=obs, info=info)
 
             # Adding safety filter
-            success = False
-            physical_action = env.denormalize_action(action)
-            unextended_obs = np.squeeze(true_obs)[:env.symbolic.nx]
-            certified_action, success = self.safety_filter.certify_action(unextended_obs, physical_action, info)
-            if success:
-                action = env.normalize_action(certified_action)
-            else:
-                self.safety_filter.ocp_solver.reset()
+            if self.safety_filter is not None:
+                success = False
+                physical_action = env.denormalize_action(action)
+                unextended_obs = np.squeeze(true_obs)[:env.symbolic.nx]
+                certified_action, success = self.safety_filter.certify_action(unextended_obs, physical_action, info)
+                if success:
+                    action = env.normalize_action(certified_action)
+                else:
+                    self.safety_filter.ocp_solver.reset()
 
             action = np.atleast_2d(np.squeeze([action]))
             obs, rew, done, info = env.step(action)