/// <summary>
 /// Called upon reset of the environment. Resets the joint positions.
 /// </summary>
 /// <remarks>
 /// In future versions of ML-agents (> 0.14), AgentReset should be replaced by OnEpisodeBegin.
 /// </remarks>
 public override void AgentReset()
 {
     leftShoulder.ResetJoint();
     leftUpperArm.ResetJoint();
     leftElbow.ResetJoint();
 }
 /// <summary>
 /// Reset all joints to their initial position.
 /// </summary>
 public void resetAllJoints()
 {
     leftShoulder.ResetJoint();
     leftUpperArm.ResetJoint();
     leftElbow.ResetJoint();
 }