def METHOD_NAME(self, base_actions, ee_velocities_world) -> Tuple[RobotObs, dict]:
    robot_obs = self._env.METHOD_NAME(base_actions, ee_velocities_world, self._transition_noise_base)
    self._nr_kin_failures += robot_obs.ik_fail
    self.trajectory.append([robot_obs.base_tf, robot_obs.gripper_tf])
    info = {'nr_kin_failures': self._nr_kin_failures}
    return robot_obs, info