code: def _reset_internal(self):
          
          super()._reset_internal()
          self.sim.data.qpos[self._ref_joint_pos_indexes] = self.mujoco_robot.init_qpos
  
          if self.has_gripper_right:
              self.sim.data.qpos[
                  self._ref_joint_gripper_right_actuator_indexes
              ] = self.gripper_right.init_qpos
  
          if self.has_gripper_left:
              self.sim.data.qpos[
                  self._ref_joint_gripper_left_actuator_indexes
              ] = self.gripper_left.init_qpos
docs: Resets the pose of the arm and grippers.