def reset_idx(self, env_ids):
        """ Reset some environments.
            Calls self._reset_dofs(env_ids), self._reset_root_states(env_ids), and self._resample_commands(env_ids) and
            Logs episode info
            Resets some buffers

        Args:
            env_ids (list[int]): List of environment ids which must be reset
        """

        if len(env_ids) == 0:
            return

        # update curriculum
        if self.cfg.terrain.curriculum:
            self._update_terrain_curriculum(env_ids)

        # reset robot states
        # self._resample_commands(env_ids)
        self._randomize_dof_props(env_ids, self.cfg)
        self._randomize_rigid_body_props(env_ids, self.cfg)
        self.refresh_actor_rigid_shape_props(env_ids, self.cfg)

        self._reset_dofs(env_ids, self.cfg)
        self._reset_root_states(env_ids, self.cfg)

        self.extras = self.logger.populate_log(env_ids)

        # reset buffers
        self.last_actions[env_ids] = 0.
        self.last_last_actions[env_ids] = 0.
        self.last_dof_vel[env_ids] = 0.
        self.feet_air_time[env_ids] = 0.
        self.episode_length_buf[env_ids] = 0
        self.path_distance[env_ids] = 0.
        self.past_base_pos[env_ids] = self.base_pos.clone()[env_ids]
        self.reset_buf[env_ids] = 1

        self.gait_indices[env_ids] = 0

        self.lag_buffer[:, env_ids, :] = 0
 Reset some environments.
            Calls self._reset_dofs(env_ids), self._reset_root_states(env_ids), and self._resample_commands(env_ids) and
            Logs episode info
            Resets some buffers

        Args:
            env_ids (list[int]): List of environment ids which must be reset
        
globe_walking/go1_gym/envs/base/legged_robot.py