@configclass
class EventCfg:
    """Configuration for events."""

    # reset
    reset_cart_position = EventTerm(
        func=mdp.reset_joints_by_offset,
        mode="reset",
        params={
            "asset_cfg": SceneEntityCfg("robot", joint_names=["slider_to_cart"]),
            "position_range": (-1.0, 1.0),
            "velocity_range": (-0.5, 0.5),
        },
    )

    reset_pole_position = EventTerm(
        func=mdp.reset_joints_by_offset,
        mode="reset",
        params={
            "asset_cfg": SceneEntityCfg("robot", joint_names=["cart_to_pole"]),
            "position_range": (-0.25 * math.pi, 0.25 * math.pi),
            "velocity_range": (-0.25 * math.pi, 0.25 * math.pi),
        },
    )

def reset_joints_by_scale(...):
    ...
    # get default joint state
    joint_pos = asset.data.default_joint_pos[env_ids].clone()
    joint_vel = asset.data.default_joint_vel[env_ids].clone()
    # bias these values randomly
    joint_pos += math_utils.sample_uniform(*position_range, joint_pos.shape, joint_pos.device)
    joint_vel += math_utils.sample_uniform(*velocity_range, joint_vel.shape, joint_vel.device)
    ...
    # set into the physics simulation
    asset.write_joint_state_to_sim(joint_pos, joint_vel, env_ids=env_ids)

def reset_joints_to_default(
    env: ManagerBasedEnv,
    env_ids: torch.Tensor,
    asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
):
    """Reset the robot joints to default position and velocity"""

    # extract the used quantities (to enable type-hinting)
    asset: Articulation = env.scene[asset_cfg.name]

    # get default joint state
    joint_pos = asset.data.default_joint_pos[env_ids].clone()
    joint_vel = asset.data.default_joint_vel[env_ids].clone()

    # set into the physics simulation
    asset.write_joint_state_to_sim(joint_pos, joint_vel, env_ids=env_ids)

def reset_joints_by_offset(...):
    ...
    # get current joint state
    joint_pos_all = asset.data.joint_pos[env_ids]
    joint_vel_all = asset.data.joint_vel[env_ids]

    # fetch targeted joints
    joint_pos = joint_pos_all[:, asset_cfg.joint_ids]
    joint_vel = joint_vel_all[:, asset_cfg.joint_ids]

    # bias these values randomly
    joint_pos += math_utils.sample_uniform(*position_range, joint_pos.shape, joint_pos.device)
    joint_vel += math_utils.sample_uniform(*velocity_range, joint_vel.shape, joint_vel.device)

    # update joint state
    joint_pos_all[:, asset_cfg.joint_ids] = joint_pos
    joint_vel_all[:, asset_cfg.joint_ids] = joint_vel
    ...
    # set into the physics simulation
    asset.write_joint_state_to_sim(joint_pos_all, joint_vel_all, env_ids=env_ids)