def get_scaled_action(action):
    """Get full action, scaled from [0, 1] to the maximum values allowed by the environment/simulator/car."""
    # action = throttle, brake, steering
    min_steer = -1.0
    max_steer = +1.0
    return [action[0],
            action[1],
            (action[2]*(max_steer-min_steer))+min_steer]