code: def _reset_internal_state(self):
          
          self.rotation = np.array([[-1., 0., 0.], [0., 1., 0.], [0., 0., -1.]])
          self.pos = np.zeros(3)  # (x, y, z)
          self.last_pos = np.zeros(3)
          self.grasp = False
docs: Resets internal state of controller, except for the reset signal.