def get_trajectory(self, render: bool = False):
        """
        Run agent-environment loop for one whole episode (trajectory)
        Return dictionary of results
        """
        state = self.env.reset()
        for _ in range(self.config["episode_max_length"]):
            action = self.choose_action(state)
            for _ in range(self.config["repeat_n_actions"]):
                _, _, done, _ = self.env.step(action)
                if done:  # Don't continue if episode has already ended
                    break
            if done:
                break
            if render:
                self.env.render()
        return