def reset_done(self):
        """Reset the environment.
        Returns:
            Observation dictionary, indices of environments being reset
        """
        done_env_ids = self.reset_buf.nonzero(as_tuple=False).flatten()
        if len(done_env_ids) > 0:
            self.reset_idx(done_env_ids)

        self.obs_dict["obs"] = torch.clamp(self.obs_buf, -self.clip_obs, self.clip_obs).to(self.rl_device)

        # asymmetric actor-critic
        if self.num_states > 0:
            self.obs_dict["states"] = self.get_state()

        return self.obs_dict, done_env_ids
Reset the environment.
        Returns:
            Observation dictionary, indices of environments being reset
        
globe_walking/go1_gym/envs/base/vec_task.py