code: def reset(self):
      self.current_episode_steps_counter = 0
  
      # set initial state
      angle = np.random.uniform(np.pi / 4, 7 * np.pi / 4)
      angular_velocity = np.random.uniform(-0.05, 0.05)
      self.sim.data.qpos[0] = angle
      self.sim.data.qvel[0] = angular_velocity
      self.sim.step()
  
      # goal
      if self.random_goals_instead_of_standing_goal:
          angle_target = np.random.uniform(-np.pi / 8, np.pi / 8)
          angular_velocity_target = np.random.uniform(-0.2, 0.2)
      else:
          angle_target = 0
          angular_velocity_target = 0
  
      # convert target values to goal
      x_target = np.sin(angle_target)
      y_target = np.cos(angle_target)
      if self.polar_coordinates:
          self.goal = np.array(
              [angle_target - np.pi, angular_velocity_target]
          )
      else:
          self.goal = np.array(
              [x_target, y_target, angular_velocity_target]
          )
  
      # visualize the goal
      self.sim.data.mocap_pos[0] = [x_target, 0, y_target]
  
      return self._get_obs()
  
file_path: coach/rl_coach/environments/mujoco/pendulum_with_goals.py
imports: import os
  import gym
  import numpy
  from gym import spaces
  from gym.envs.registration import EnvSpec
  from mujoco_py import load_model_from_path, MjSim, MjViewer, MjRenderContextOffscreen
label_desc: Use image node_id 7 for calling the PendulumWithGoals obj's underlying member method code with example usage: obj.reset() and returns: self