code: def reset_model(self):
      qpos = (
          self.np_random.uniform(low=-0.1, high=0.1, size=self.model.nq)
          + self.init_qpos
      )
      while True:
          self.goal = self.np_random.uniform(low=-0.2, high=0.2, size=2)
          if np.linalg.norm(self.goal) < 0.2:
              break
      qpos[-2:] = self.goal
      qvel = self.init_qvel + self.np_random.uniform(
          low=-0.005, high=0.005, size=self.model.nv
      )
      qvel[-2:] = 0
      self.set_state(qpos, qvel)
      return self._get_obs()
  
file_path: gym/gym/envs/mujoco/reacher.py
imports: import numpy
  from gym import utils
  from gym.envs.mujoco import MuJocoPyEnv
  from gym.spaces import Box
label_desc: Use image node_id 4 for calling the ReacherEnv obj's underlying member method code with example usage: obj.reset_model() and returns: self