From a1eb7b8573bd3273292386b007d6ac143541a520 Mon Sep 17 00:00:00 2001 From: JackM323 Date: Fri, 7 Aug 2026 14:31:58 +0200 Subject: [PATCH] no robot coloring --- ml/env.py | 8 +------- 1 file changed, 1 insertion(+), 7 deletions(-) diff --git a/ml/env.py b/ml/env.py index ed7e974..b62cb49 100644 --- a/ml/env.py +++ b/ml/env.py @@ -16,8 +16,6 @@ from simulation import Simulation from Robot import Robot, PyBulletBackend from ml.MetricsOverlay import MetricsHUD -COLOR_FAILED = [0.3, 0.3, 0.3, 0.6] - class CurriculumPhase(IntEnum): STAND_ONLY = 0 @@ -154,9 +152,6 @@ class JackBotEnv(gym.Env): # 2. Reset internal kinematics & hard reset joints in PyBullet self.robot.reset_to_init() - if self.use_gui: - self.sim.set_robot_color([1.0, 1.0, 1.0, 1.0]) - action_dim = self.action_space.shape[0] self.last_action = np.zeros(action_dim, dtype=np.float32) self.last_last_action = np.zeros(action_dim, dtype=np.float32) @@ -218,6 +213,7 @@ class JackBotEnv(gym.Env): 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) ) + target_angles = self.default_joint_angles + action * joint_range self.robot.tick(action=target_angles) if self.robot_mode != "kinematics" and self.step_count % 60 == 0: @@ -421,8 +417,6 @@ class JackBotEnv(gym.Env): if is_tilted or is_collapsed: self.is_failed = True - if self.use_gui: - self.sim.set_robot_color(COLOR_FAILED) def close(self): self.sim.disconnect() \ No newline at end of file