Skip the actuator joint id mismatch

robosuite/robots/legged_robot.py

@@ -184,15 +184,11 @@ def control(self, action, policy_step=False):
 
         applied_action_dict = self.composite_controller.run_controller(self._enabled_parts)
         for part_name, applied_action in applied_action_dict.items():
-            joint_id2action = {}
-            for i, joint_id in enumerate(self._ref_joints_indexes_dict[part_name]):
-                joint_id2action[joint_id] = applied_action[i]
-            for actuator_id in self._ref_actuators_indexes_dict[part_name]:
-                joint_id = self.sim.model.actuator_trnid[actuator_id][0]
-                action = joint_id2action[joint_id] / self.sim.model.actuator_gear[actuator_id][0]
-                low = self.sim.model.actuator_ctrlrange[actuator_id, 0]
-                high = self.sim.model.actuator_ctrlrange[actuator_id, 1]
-                self.sim.data.ctrl[actuator_id] = np.clip(action, low, high)
+            applied_action_low = self.sim.model.actuator_ctrlrange[self._ref_actuators_indexes_dict[part_name], 0]
+            applied_action_high = self.sim.model.actuator_ctrlrange[self._ref_actuators_indexes_dict[part_name], 1]
+            applied_action = np.clip(applied_action, applied_action_low, applied_action_high)
+
+            self.sim.data.ctrl[self._ref_actuators_indexes_dict[part_name]] = applied_action
 
         # If this is a policy step, also update buffers holding recent values of interest
         if policy_step: