Code:

import timeimport np as npimport numpy as npimport pybullet as pimport pybullet_datap.connect(p.GUI)p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)p.configureDebugVisualizer(p.COV_ENABLE_MOUSE_PICKING, 0)def reset_env():    p.setTimeStep(1.0 / 500)    p.resetSimulation()    p.setAdditionalSearchPath(pybullet_data.getDataPath())    p.setGravity(0, 0, -9.81)reset_env()robot1 = p.loadURDF(    fileName="franka_panda/panda.urdf",    basePosition=np.zeros(3), useFixedBase=True,    flags=p.URDF_USE_SELF_COLLISION,)robot2 = p.loadURDF(    fileName="franka_panda/panda.urdf",    basePosition=np.zeros(3), useFixedBase=True,    flags=p.URDF_USE_SELF_COLLISION,)num_joints = p.getNumJoints(robot2)color = [0.828125, 0.68359375, 0.21484375, 0.5] # second robot is goldfor link_id in range(num_joints):    p.changeVisualShape(robot2, link_id, rgbaColor=color)    # p.changeDynamics(robot2, link_id, mass=0.)    p.setCollisionFilterGroupMask(robot1, link_id, robot1, robot2)    p.setCollisionFilterGroupMask(robot2, link_id, 0, 0)joint_indices = np.array([0, 1, 2, 3, 4, 5, 6, 9, 10])lower_limits, higher_limits = zip(*[p.getJointInfo(robot1, i)[8:10] for i in joint_indices[:7]])lower_limits = np.array(lower_limits)higher_limits = np.array(higher_limits)m = 0.01 * (higher_limits - lower_limits)def get_random_config():    configuration = np.random.uniform(lower_limits + m, higher_limits - m)    configuration = np.concatenate((configuration, np.zeros(2)))    return configurationconfiguration1 = get_random_config()configuration2 = get_random_config()goal_1 = get_random_config()goal_2 = get_random_config()for joint, angle1, angle2 in zip(joint_indices, configuration1, configuration2):    p.resetJointState(bodyUniqueId=robot1, jointIndex=joint, targetValue=angle1)    p.resetJointState(bodyUniqueId=robot2, jointIndex=joint, targetValue=angle2)joint_forces = np.array([87.0, 87.0, 87.0, 87.0, 12.0, 120.0, 120.0, 170.0, 170.0])p.setJointMotorControlArray(    robot1,    jointIndices=joint_indices,    controlMode=p.POSITION_CONTROL,    targetPositions=goal_1,    forces=joint_forces,)p.setJointMotorControlArray(    robot2,    jointIndices=joint_indices,    controlMode=p.POSITION_CONTROL,    targetPositions=goal_2,    forces=joint_forces,)def get_joints(robot_id):    return [p.getJointState(robot_id, joint)[0] for joint in joint_indices]two_robots_states = get_joints(robot1)for i in range(100):    time.sleep(0.01)    p.stepSimulation()    two_robots_states.append(get_joints(robot1))p.resetSimulation()reset_env()robot1 = p.loadURDF(    fileName="franka_panda/panda.urdf",    basePosition=np.zeros(3), useFixedBase=True,    flags=p.URDF_USE_SELF_COLLISION,)for joint, angle1 in zip(joint_indices, configuration1):    p.resetJointState(bodyUniqueId=robot1, jointIndex=joint, targetValue=angle1)p.setJointMotorControlArray(    robot1,    jointIndices=joint_indices,    controlMode=p.POSITION_CONTROL,    targetPositions=goal_1,    forces=joint_forces,)one_robot_states1 = get_joints(robot1)for i in range(100):    time.sleep(0.01)    p.stepSimulation()    one_robot_states1.append(get_joints(robot1))p.resetSimulation()reset_env()robot1 = p.loadURDF(    fileName="franka_panda/panda.urdf",    basePosition=np.zeros(3), useFixedBase=True,    flags=p.URDF_USE_SELF_COLLISION,)for joint, angle1 in zip(joint_indices, configuration1):    p.resetJointState(bodyUniqueId=robot1, jointIndex=joint, targetValue=angle1)p.setJointMotorControlArray(    robot1,    jointIndices=joint_indices,    controlMode=p.POSITION_CONTROL,    targetPositions=goal_1,    forces=joint_forces,)one_robot_states2 = get_joints(robot1)for i in range(100):    time.sleep(0.01)    p.stepSimulation()    one_robot_states2.append(get_joints(robot1))# first assert that a single robot acts the sameassert len(one_robot_states1) == len(one_robot_states2)for _, (one_robot_state1, one_robot_state2) in enumerate(zip(one_robot_states1, one_robot_states2)):    assert np.array_equal(one_robot_state1, one_robot_state2)print('single robot reset is OK')# next, assert that with two robots there is a problemassert len(one_robot_states1) == len(two_robots_states)for _, (one_robot_state, two_robots_state) in enumerate(zip(one_robot_states1, two_robots_states)):    assert np.array_equal(one_robot_state, two_robots_state)print('two robots are consistent')