def METHOD_NAME(self):
    noise_low = -self._reset_noise_scale
    noise_high = self._reset_noise_scale
    qpos = self.init_qpos + self.np_random.uniform(
        low=noise_low, high=noise_high, size=self.model.nq
    )
    qvel = self.init_qvel + self.np_random.uniform(
        low=noise_low, high=noise_high, size=self.model.nv
    )
    self.set_state(qpos, qvel)
    observation = self._get_obs()
    return observation