def reset(self):
        """gym api reset"""

        if self.resync_period > 0 and (self.resets + 1) % self.resync_period == 0:
            self._exit_resync()

        while not self.done:
            self.done = self._quit_episode()
            if not self.done:
                time.sleep(0.1)

        return self._start_up()