From b20df172370e4f11bcda068f1aaff63214be0241 Mon Sep 17 00:00:00 2001
From: Tri Wahyu Guntara <wahyu.guntara@gmail.com>
Date: Sun, 13 Nov 2022 16:00:31 +0900
Subject: [PATCH] [BUG] Fix reset() method for v2

---
 metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py
index 6ae933a3..26ad8bde 100644
--- a/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py
+++ b/metaworld/envs/mujoco/sawyer_xyz/sawyer_xyz_env.py
@@ -457,7 +457,13 @@ def evaluate_state(self, obs, action):
 
     def reset(self):
         self.curr_path_length = 0
-        return super().reset()
+        
+        ## reset self._prev_obs to current observation
+        obs = super().reset()
+        self._prev_obs = obs[:18].copy()
+        obs[18:36] = self._prev_obs
+
+        return obs
 
     def _reset_hand(self, steps=50):
         for _ in range(steps):