def _reset_dofs(self, env_ids, cfg):
        """ Resets DOF position and velocities of selected environmments
        Positions are randomly selected within 0.5:1.5 x default positions.
        Velocities are set to zero.

        Args:
            env_ids (List[int]): Environemnt ids
        """
        self.dof_pos[env_ids] = self.default_dof_pos * torch_rand_float(0.5, 1.5, (len(env_ids), self.num_dof), device=self.device)
        self.dof_vel[env_ids] = 0.

        all_subject_env_ids = self.robot_actor_idxs[env_ids].to(device=self.device)
        all_subject_env_ids_int32 = all_subject_env_ids.to(dtype=torch.int32)
        self.gym.set_dof_state_tensor_indexed(self.sim,
                                              gymtorch.unwrap_tensor(self.dof_state),
                                              gymtorch.unwrap_tensor(all_subject_env_ids_int32), len(all_subject_env_ids_int32))
 Resets DOF position and velocities of selected environmments
        Positions are randomly selected within 0.5:1.5 x default positions.
        Velocities are set to zero.

        Args:
            env_ids (List[int]): Environemnt ids
        
globe_walking/go1_gym/envs/base/legged_robot.py