def _sample_goal(self):
    goal = (self.initial_gripper_xpos[:3] + np.array([0.0, ((- 1) * OFFSET), 0.0]))
    if self.goal_noise:
        goal[:2] += self.goal_sampler.sample(self.coverage, self.np_random)
        goal += self.target_offset
    goal[2] = self.height_offset
    return goal.copy()
def _sample_goal(self):
    goal = (self.initial_gripper_xpos[:3] + np.array([0.0, ((- 1) * OFFSET), 0.0]))
    if self.goal_noise:
        goal[:2] += self.goal_sampler.sample(self.coverage, self.np_random)
        goal += self.target_offset
    goal[2] = self.height_offset
    return goal.copy()