gym_hil/envs/panda_arrange_boxes_gym_env.py [157:171]:
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        if self.image_obs:
            # Image observations
            front_view, wrist_view = self.render()
            observation = {
                "pixels": {"front": front_view, "wrist": wrist_view},
                "agent_pos": robot_state,
            }
        else:
            # State-only observations
            observation = {
                "agent_pos": robot_state,
                "environment_state": block_pos,
            }

        return observation
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gym_hil/envs/panda_pick_gym_env.py [161:175]:
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        if self.image_obs:
            # Image observations
            front_view, wrist_view = self.render()
            observation = {
                "pixels": {"front": front_view, "wrist": wrist_view},
                "agent_pos": robot_state,
            }
        else:
            # State-only observations
            observation = {
                "agent_pos": robot_state,
                "environment_state": block_pos,
            }

        return observation
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