def sample(self, prob):
        '''
            Method samples actions from probability distribution
        '''
        if len(prob.shape) == 3:
            prob_shape = prob.shape
            prob = prob.reshape(-1, self.d * 2)
        mean_nd = prob[:, :self.d]
        std_nd = prob[:, self.d:]
        return np.random.randn(prob.shape[0], self.d) * std_nd + mean_nd

            Method samples actions from probability distribution
        
surreal/model/ppo_net.py