#NEWLINE# @ overrides #NEWLINE# def reset( self ) : #NEWLINE# #INDENT# self . _set_state ( self . initial_state ) #NEWLINE# self . _invalidate_state_caches ( ) #NEWLINE# stds = np . array ( [ 0.1 , 0.1 , 0.01 , 0.01 ] ) #NEWLINE# ( pos1 , pos2 , v1 , v2 ) = ( np . random . randn ( * stds . shape ) * stds ) #NEWLINE# self . link1 . angle = pos1 #NEWLINE# self . link2 . angle = pos2 #NEWLINE# self . link1 . angularVelocity = v1 #NEWLINE# self . link2 . angularVelocity = v2 #NEWLINE# return self . get_current_obs ( )