def _get_obs(self):
    data = self.sim.data
    return np.concatenate([data.qpos.flat[2:], data.qvel.flat, data.cinert.flat, data.cvel.flat, data.qfrc_actuator.flat, data.cfrc_ext.flat])
def _get_obs(self):
    data = self.sim.data
    return np.concatenate([data.qpos.flat[2:], data.qvel.flat, data.cinert.flat, data.cvel.flat, data.qfrc_actuator.flat, data.cfrc_ext.flat])