gym_aloha/tasks/sim.py [104:115]:
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    def __init__(self, random=None):
        super().__init__(random=random)
        self.max_reward = 4

    def initialize_episode(self, physics):
        """Sets the state of the environment at the start of each episode."""
        # TODO Notice: this function does not randomize the env configuration. Instead, set BOX_POSE from outside
        # reset qpos, control and box position
        with physics.reset_context():
            physics.named.data.qpos[:16] = START_ARM_POSE
            np.copyto(physics.data.ctrl, START_ARM_POSE)
            assert BOX_POSE[0] is not None
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gym_aloha/tasks/sim.py [153:164]:
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    def __init__(self, random=None):
        super().__init__(random=random)
        self.max_reward = 4

    def initialize_episode(self, physics):
        """Sets the state of the environment at the start of each episode."""
        # TODO Notice: this function does not randomize the env configuration. Instead, set BOX_POSE from outside
        # reset qpos, control and box position
        with physics.reset_context():
            physics.named.data.qpos[:16] = START_ARM_POSE
            np.copyto(physics.data.ctrl, START_ARM_POSE)
            assert BOX_POSE[0] is not None
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