def wheeled_network_2_robot_action_decoder(action, wheel_max, wheel_min, diff=0.25):
    """
    Decode wheeled action from network to linear and angular speed for the robot
    :param action: action for wheel spd
    :param wheel_max: max wheel spd
    :param wheel_min: min wheel spd
    :param diff: diff of wheel for decoding angular spd
    :return: robot_action
    """
    l_spd = action[0] * (wheel_max - wheel_min) + wheel_min
    r_spd = action[1] * (wheel_max - wheel_min) + wheel_min
    linear = (l_spd + r_spd) / 2
    angular = (r_spd - l_spd) / diff
    return [linear, angular]