code: def reset_model(self):
      qpos = self.init_qpos
  
      self.goal_pos = np.asarray([0, 0])
      while True:
          self.cylinder_pos = np.concatenate(
              [
                  self.np_random.uniform(low=-0.3, high=0, size=1),
                  self.np_random.uniform(low=-0.2, high=0.2, size=1),
              ]
          )
          if np.linalg.norm(self.cylinder_pos - self.goal_pos) > 0.17:
              break
  
      qpos[-4:-2] = self.cylinder_pos
      qpos[-2:] = self.goal_pos
      qvel = self.init_qvel + self.np_random.uniform(
          low=-0.005, high=0.005, size=self.model.nv
      )
      qvel[-4:] = 0
      self.set_state(qpos, qvel)
      return self._get_obs()
  
file_path: gym/gym/envs/mujoco/pusher.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 PusherEnv obj's underlying member method code with example usage: obj.reset_model() and returns: self