lastState = agentBodyMap.get(a).getState(a);
lastState.setTerminal(episodeEnd);
return reward.calculateReward(lastState);*/
//State s = agentBodyMap.get(a).getState(a);
//s.setTerminal(episodeEnd);
State s = lastState;
//System.out.println("Preact: " + s);
//System.out.println(act.getClass() + " " + act.getID());
reward.preAction(act, a, s);
act.execute(a);