def _reset_internal(self):
        """
        Sets initial pose of arm and grippers.
        """
        super()._reset_internal()
        self.sim.data.qpos[self._ref_joint_pos_indexes] = self.mujoco_robot.init_qpos

        if self.has_gripper:
            self.sim.data.qpos[
                self._ref_joint_gripper_actuator_indexes
            ] = self.gripper.init_qpos
Sets initial pose of arm and grippers.