Investigate if there's a way to simplify joint_normalization

[github-actions]

since the system expects a [-1, 1] range, we normalize the joint positions to their limits; it is

redundant since we'll undo the normalization later in the controller, so it might warrant a change

newton-isaac-sim/newton.py

Lines 316 to 318 in abf04d6

	# TODO: Investigate if there's a way to simplify joint_normalization
	# since the system expects a [-1, 1] range, we normalize the joint positions to their limits; it is
	# redundant since we'll undo the normalization later in the controller, so it might warrant a change

            # index 7 is the joint position (angle in degrees)
            joint_positions = joint_data[:, 7]

            # TODO: Investigate if there's a way to simplify joint_normalization
            #   since the system expects a [-1, 1] range, we normalize the joint positions to their limits; it is
            #   redundant since we'll undo the normalization later in the controller, so it might warrant a change
            joint_actions = newton_agent.joints_controller.normalize_joint_positions(
                torch.from_numpy(joint_positions)
            )

            # we wrap it in an array to make it 2D (it's a vectorized env)
            env.step(np.array([joint_actions], dtype=np.float32))

        exit(1)