How to change the reset function?

I am attempting to change the movement dynamics within the environment, such as enabling the hopper to walk in a different direction. Although I've added additional joints to facilitate lateral movementthe in the XML file. But I've found that the hopper still only moves forward during training with DDPG .
To address this issue, I aim to change the initial position,made the hopper to face left or downwards at the begning.
However, it seems the reset function does not allow manual adjustments.
Could you help me how to do it? Thank you!