(self, perturb_state)
return
Synchronizes the simulated character to the pose and velocity of the

    reference motion.

    Args:
      perturb_state: A flag for enabling perturbations to be applied to state.
Synchronizes the simulated character to the pose and velocity of the
Synchronizes the simulated character to the pose and velocity of the
def _sync_sim_model(self, perturb_state):
    """Synchronizes the simulated character to the pose and velocity of the

    reference motion.

    Args:
      perturb_state: A flag for enabling perturbations to be applied to state.
    """
    pose = self._ref_pose
    vel = self._ref_vel
    if perturb_state:
      pose, vel = self._apply_state_perturb(pose, vel)

    self._set_state(self._env.robot.quadruped, pose, vel)
    self._env.robot.ReceiveObservation()
    return
def _sync_sim_model ( self , perturb_state ) : pose = self . _ref_pose vel = self . _ref_vel if perturb_state : pose , vel = self . _apply_state_perturb ( pose , vel ) self . _set_state ( self . _env . robot . quadruped , pose , vel ) self . _env . robot . ReceiveObservation ( ) return