JackM323/JackBot
1
0
Fork 0
Code Issues 3 Pull Requests Actions Packages Projects 2 Releases Wiki Activity

no robot coloring

Browse Source
This commit is contained in:
JackM323
2026-08-07 14:31:58 +02:00
parent 7200531af3
commit a1eb7b8573
1 changed files with 1 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ml/env.py
+1 -7
View File
@@ -16,8 +16,6 @@ from simulation import Simulation
from Robot import Robot, PyBulletBackend from Robot import Robot, PyBulletBackend
from ml.MetricsOverlay import MetricsHUD from ml.MetricsOverlay import MetricsHUD
COLOR_FAILED = [0.3, 0.3, 0.3, 0.6]
class CurriculumPhase(IntEnum): class CurriculumPhase(IntEnum):
STAND_ONLY = 0 STAND_ONLY = 0
@@ -154,9 +152,6 @@ class JackBotEnv(gym.Env):
# 2. Reset internal kinematics & hard reset joints in PyBullet # 2. Reset internal kinematics & hard reset joints in PyBullet
self.robot.reset_to_init() 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] action_dim = self.action_space.shape[0]
self.last_action = np.zeros(action_dim, dtype=np.float32) self.last_action = np.zeros(action_dim, dtype=np.float32)
self.last_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.default_joint_angles - self.min_joint_limits),
self.default_joint_angles + action * (self.max_joint_limits - self.default_joint_angles) 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) self.robot.tick(action=target_angles)
if self.robot_mode != "kinematics" and self.step_count % 60 == 0: 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: if is_tilted or is_collapsed:
self.is_failed = True self.is_failed = True
if self.use_gui:
self.sim.set_robot_color(COLOR_FAILED)
def close(self): def close(self):
self.sim.disconnect() self.sim.disconnect()