def _reset_internal(self):
        """
        Resets simulation internal configurations.
        """
        super()._reset_internal()

        # reset positions of objects
        self.model.place_objects()

        # reset joint positions
        init_pos = np.array([-0.5538, -0.8208, 0.4155, 1.8409, -0.4955, 0.6482, 1.9628])
        init_pos += np.random.randn(init_pos.shape[0]) * 0.02
        self.sim.data.qpos[self._ref_joint_pos_indexes] = np.array(init_pos)
def _reset_internal ( self ) : super ( ) . _reset_internal ( ) self . model . place_objects ( ) init_pos = np . array ( [ - 0.5538 , - 0.8208 , 0.4155 , 1.8409 , - 0.4955 , 0.6482 , 1.9628 ] ) init_pos += np . random . randn ( init_pos . shape [ 0 ] ) * 0.02 self . sim . data . qpos [ self . _ref_joint_pos_indexes ] = np . array ( init_pos )
Resets simulation internal configurations.