Add env_clip bounded CTT action transform

workspace/scripts/eval_ctt_generated_rollout.py

@@ -96,12 +96,14 @@ def main(argv: list[str] | None = None) -> int:
     )
     parser.add_argument(
         "--execution-action-transform",
-        choices=("identity", "tanh"),
+        choices=("identity", "tanh", "env_clip"),
         default="identity",
         help=(
             "Action-convention transform applied before action-bound diagnostics, "
             "optional clipping, and simulator execution. 'identity' preserves "
-            "decoded controls; 'tanh' smoothly maps controls into finite env bounds."
+            "decoded controls; 'tanh' smoothly maps controls into finite env bounds; "
+            "'env_clip' clips decoded controls to the finite env bounds as an explicit "
+            "logged decoder convention rather than silent simulator clipping."
         ),
     )
     parser.add_argument(
@@ -1039,6 +1041,8 @@ def _transform_actions_4d(actions: np.ndarray, env: Any, transform: str) -> np.n
     value = str(transform or "identity").strip().lower()
     if value == "identity":
         return actions.astype(np.float32, copy=False)
+    if value == "env_clip":
+        return _clip_to_action_space_4d(actions.astype(np.float32, copy=False), env)
     if value != "tanh":
         raise ValueError(f"Unknown execution action transform: {transform}")
     squashed = np.tanh(actions.astype(np.float32, copy=False))