gym/envs/mujoco/humanoid.py [72:92]:
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                reward_impact=-quad_impact_cost,
            ),
        )

    def reset_model(self):
        c = 0.01
        self.set_state(
            self.init_qpos + self.np_random.uniform(low=-c, high=c, size=self.model.nq),
            self.init_qvel
            + self.np_random.uniform(
                low=-c,
                high=c,
                size=self.model.nv,
            ),
        )
        return self._get_obs()

    def viewer_setup(self):
        assert self.viewer is not None
        self.viewer.cam.trackbodyid = 1
        self.viewer.cam.distance = self.model.stat.extent * 1.0
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gym/envs/mujoco/humanoidstandup.py [65:85]:
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                reward_impact=-quad_impact_cost,
            ),
        )

    def reset_model(self):
        c = 0.01
        self.set_state(
            self.init_qpos + self.np_random.uniform(low=-c, high=c, size=self.model.nq),
            self.init_qvel
            + self.np_random.uniform(
                low=-c,
                high=c,
                size=self.model.nv,
            ),
        )
        return self._get_obs()

    def viewer_setup(self):
        assert self.viewer is not None
        self.viewer.cam.trackbodyid = 1
        self.viewer.cam.distance = self.model.stat.extent * 1.0
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