def _get_reference(self):
        """
        Sets up references to important components. A reference is typically an
        index or a list of indices that point to the corresponding elements
        in a flatten array, which is how MuJoCo stores physical simulation data.
        """
        super()._get_reference()
        self.cubeA_body_id = self.sim.model.body_name2id("cubeA")
        self.cubeB_body_id = self.sim.model.body_name2id("cubeB")
        self.l_finger_geom_ids = [
            self.sim.model.geom_name2id(x) for x in self.gripper.left_finger_geoms
        ]
        self.r_finger_geom_ids = [
            self.sim.model.geom_name2id(x) for x in self.gripper.right_finger_geoms
        ]
        self.cubeA_geom_id = self.sim.model.geom_name2id("cubeA")
        self.cubeB_geom_id = self.sim.model.geom_name2id("cubeB")
def _get_reference ( self ) : super ( ) . _get_reference ( ) self . cubeA_body_id = self . sim . model . body_name2id ( "cubeA" ) self . cubeB_body_id = self . sim . model . body_name2id ( "cubeB" ) self . l_finger_geom_ids = [ self . sim . model . geom_name2id ( x ) for x in self . gripper . left_finger_geoms ] self . r_finger_geom_ids = [ self . sim . model . geom_name2id ( x ) for x in self . gripper . right_finger_geoms ] self . cubeA_geom_id = self . sim . model . geom_name2id ( "cubeA" ) self . cubeB_geom_id = self . sim . model . geom_name2id ( "cubeB" )
Sets up references to important components. A reference is typically an
        index or a list of indices that point to the corresponding elements
        in a flatten array, which is how MuJoCo stores physical simulation data.