def METHOD_NAME(self, agent, world):
    # get positions of all entities in this agent's reference frame
    entity_pos = []
    for entity in world.landmarks:  # world.entities:
        entity_pos.append(entity.state.p_pos - agent.state.p_pos)
    # communication of all other agents
    comm = []
    other_pos = []
    for other in world.agents:
        if other is agent:
            continue
        comm.append(other.state.c)
        other_pos.append(other.state.p_pos - agent.state.p_pos)
    return np.concatenate(
        [agent.state.p_vel] + [agent.state.p_pos] + entity_pos + other_pos + comm
    )