model: The original PyTorch model. input_keys: List of input names as keys for the input dictionary.
(self, actor, left_hand_force_estimator, right_hand_force_estimator)
| 61 | |
| 62 | class PPOForceEstimatorWrapper(nn.Module): |
| 63 | def __init__(self, actor, left_hand_force_estimator, right_hand_force_estimator): |
| 64 | """ |
| 65 | model: The original PyTorch model. |
| 66 | input_keys: List of input names as keys for the input dictionary. |
| 67 | """ |
| 68 | super(PPOForceEstimatorWrapper, self).__init__() |
| 69 | self.actor = actor |
| 70 | self.left_hand_force_estimator = left_hand_force_estimator |
| 71 | self.right_hand_force_estimator = right_hand_force_estimator |
| 72 | |
| 73 | def forward(self, inputs): |
| 74 | """ |