code: def _reset_internal(self):
          
          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)
docs: Resets simulation internal configurations.