def reset(self, **kwargs):
    obs = self.env.reset(**kwargs)
    if (self.anoise_type in ['ext_fpc']):
        self.cur_force = np.zeros(3)
        obs = np.concatenate([obs, self.cur_force])
    if self.reset_update_obs_estimate:
        self._update_obs_estimate(obs[(np.newaxis, ...)])
        self.reset_update_obs_estimate = False
    self.cur_obs = obs
    return self.cur_obs
def reset(self, **kwargs):
    obs = self.env.reset(**kwargs)
    if (self.anoise_type in ['ext_fpc']):
        self.cur_force = np.zeros(3)
        obs = np.concatenate([obs, self.cur_force])
    if self.reset_update_obs_estimate:
        self._update_obs_estimate(obs[(np.newaxis, ...)])
        self.reset_update_obs_estimate = False
    self.cur_obs = obs
    return self.cur_obs