def reset_model(self):
    self.t = 0
    self.r = 0
    qpos = (self.init_qpos + self.np_random.uniform(low=(- 0.005), high=0.005, size=self.model.nq))
    qvel = (self.init_qvel + self.np_random.uniform(low=(- 0.005), high=0.005, size=self.model.nv))
    self.set_state(qpos, qvel)
    return self._get_obs()
def reset_model(self):
    self.t = 0
    self.r = 0
    qpos = (self.init_qpos + self.np_random.uniform(low=(- 0.005), high=0.005, size=self.model.nq))
    qvel = (self.init_qvel + self.np_random.uniform(low=(- 0.005), high=0.005, size=self.model.nv))
    self.set_state(qpos, qvel)
    return self._get_obs()