def METHOD_NAME(self, p_force):
    # set applied forces
    for i, agent in enumerate(self.agents):
        if agent.movable:
            noise = (
                np.random.randn(*agent.action.u.shape) * agent.u_noise
                if agent.u_noise
                else 0.0
            )
            p_force[i] = agent.action.u + noise
    return p_force