adding idm override option flag, set to true. current running experiments for gail and shail experiment A to see how different times are. Since were on cpus on the cluster, guessing it will be 10x

bc-experiment.py

@@ -55,6 +55,7 @@ def training_function(config):
                 ),
                 check_collisions=True,
                 stop_on_collision=config['trainenv']['stop_on_collision'],
+                use_idm=config['trainenv']['use_idm'],
             ), collision_distance=6, collision_penalty=100),
             lambda obs: (obs - obs_min) / (obs_max - obs_min + 1e-10)
         )) for _ in range(60)]
@@ -68,6 +69,8 @@ def training_function(config):
                 ),
                 check_collisions=True,
                 stop_on_collision=config['trainenv']['stop_on_collision'],
+                use_idm=config['trainenv']['use_idm'],
+                track=track,
             ), collision_distance=6, collision_penalty=100),
             lambda obs: (obs - obs_min) / (obs_max - obs_min + 1e-10)
         )) for _ in range(15)] for track in range(4)],[])
@@ -159,6 +162,7 @@ if __name__ == '__main__':
                 'experiment': args.train,
                 'trainenv': {
                     'stop_on_collision': False, 
+                    'use_idm':True,
                 },
                 'policy': {
                     'learning_rate': 3e-4,