def get_linear_pos_act(cur_pos, reach_pos):
    cur_pos = cur_pos.copy()
    reach_pos = reach_pos.copy()
    move_dir = (reach_pos - cur_pos)
    dist = np.linalg.norm(move_dir, axis=(- 1))
    move_dir *= (ACT_MAG / dist)
    return move_dir
def get_linear_pos_act(cur_pos, reach_pos):
    cur_pos = cur_pos.copy()
    reach_pos = reach_pos.copy()
    move_dir = (reach_pos - cur_pos)
    dist = np.linalg.norm(move_dir, axis=(- 1))
    move_dir *= (ACT_MAG / dist)
    return move_dir