pretrain logic and small fixes

2026-08-07 14:32:35 +02:00
parent a1eb7b8573
commit 3e6e40f0c5
8 changed files with 324 additions and 125 deletions
@@ -207,11 +207,9 @@ class JackBotEnv(gym.Env):
        self.robot.robot_state = "walking" if (abs(cmd_vx) > 0.01 or abs(cmd_vy) > 0.01 or abs(cmd_omega) > 0.01) else "idle"
        self.robot.vector_dirmov = [float(cmd_vx), float(cmd_vy), float(cmd_omega)]
        
-        # Delegate execution tick to Robot instance
-        target_angles = np.where(
-            action < 0.0,
-            self.default_joint_angles + action * (self.default_joint_angles - self.min_joint_limits),
-            self.default_joint_angles + action * (self.max_joint_limits - self.default_joint_angles)
+        joint_range = np.minimum(
+            self.default_joint_angles - self.min_joint_limits,
+            self.max_joint_limits - self.default_joint_angles
        )
        target_angles = self.default_joint_angles + action * joint_range
        self.robot.tick(action=target_angles)