Method ApplyAction

humanoidverse/deploy/mujoco.py:482–488

(self, action)

        
    # Noise Version ApplyAction & Obs
    def ApplyAction(self, action): 
        if self.RAND_NOISE: action = MujocoRobot.mk_rand_noise(action, MujocoRobot.noise_ratio)
        URCIRobot.ApplyAction(self, action)


            
        # breakpoint()

    def Obs(self):
        # return {k: torch2np(v) for k, v in self.obs_buf_dict.items()}