def network_2_robot_action_decoder(action, l_max, l_min, a_max, a_min):
    """
    Decode action from network output to action for the robot
    :param action: action from network output
    :param l_max: linear speed max
    :param l_min: linear speed min
    :param a_max: angular speed max
    :param a_min: angular speed min
    :return: robot_action
    """
    linear = action[0] * (l_max - l_min) + l_min
    angular = (action[1] + 1) * a_max + a_min
    return [linear, angular]