no robot coloring

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()