def _reset_sim(self):
    self.sim.set_state(self.initial_state)
    if self.has_object:
        object_xpos = (self.initial_gripper_xpos[:2] + np.array([0.0, OFFSET]))
        object_xpos += self.obj_sampler.sample(self.coverage, self.np_random)
        object_qpos = self.sim.data.get_joint_qpos('object0:joint')
        assert (object_qpos.shape == (7,))
        object_qpos[:2] = object_xpos
        self.sim.data.set_joint_qpos('object0:joint', object_qpos)
    self.sim.forward()
    return True
def _reset_sim(self):
    self.sim.set_state(self.initial_state)
    if self.has_object:
        object_xpos = (self.initial_gripper_xpos[:2] + np.array([0.0, OFFSET]))
        object_xpos += self.obj_sampler.sample(self.coverage, self.np_random)
        object_qpos = self.sim.data.get_joint_qpos('object0:joint')
        assert (object_qpos.shape == (7,))
        object_qpos[:2] = object_xpos
        self.sim.data.set_joint_qpos('object0:joint', object_qpos)
    self.sim.forward()
    return True