learning tweaks

2026-08-07 10:42:28 +02:00
parent 405e3ad5f2
commit f9a3e8ddba
5 changed files with 80 additions and 23 deletions
@@ -265,10 +265,8 @@ class Robot:
        self.set_joint_angles(target_rad)

    def apply_rl_action(self, action: np.ndarray) -> None:
-        """Applies absolute action targets directly for Direct RL."""
        action = np.asarray(action, dtype=np.float32)
-        scaled_action = np.clip(action, -1.0, 1.0) * (np.pi / 2.0)
-        new_rad = dt.RadArray(data=scaled_action.reshape(self.current_rad.data.shape))
+        new_rad = dt.RadArray(data=action.reshape(self.current_rad.data.shape))
        self.set_joint_angles(new_rad)

    def apply_rl_action_delta(self, action: np.ndarray) -> None: