fix action application in do_simulation (#1618)

HULKs · Jan 29, 2025 · 9d21afc · 9d21afc
1 parent 85eecd1
commit 9d21afc
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/tools/machine-learning/mujoco/packages/nao_env/src/nao_env/nao_base_env.py b/tools/machine-learning/mujoco/packages/nao_env/src/nao_env/nao_base_env.py
@@ -147,5 +147,5 @@ def do_simulation(
         ctrl: NDArray[np.floating],
         n_frames: int,
     ) -> None:
-        self.data.ctrl[self._actuation_mask] += ctrl
+        self.data.ctrl[self._actuation_mask] = ctrl
         self._step_mujoco_simulation(self.data.ctrl, n_frames)