def METHOD_NAME(self):
    # Get observation
    v_pos, v_quat = p.getBasePositionAndOrientation(self.vehicle)
    # print(v_Pos, type(v_Pos))
    v_rpy = p.getEulerFromQuaternion(v_quat)
    v_vel, v_ang_v = p.getBaseVelocity(self.vehicle)
    self.accel = (np.array(v_vel) - self.vel)/self.dt
    self.vel = np.array(v_vel)
    self.ang_accel = (np.array(v_ang_v) - self.ang_vel)/self.dt
    self.ang_vel = np.array(v_ang_v)
    self.observation = {'pos':v_pos,
                        'quat':v_quat,
                        'rpy':v_rpy,
                        'vel':tuple(self.vel),
                        'ang_v':tuple(self.ang_vel),
                        'accel':tuple(self.accel),
                        'ang_accel':tuple(self.ang_accel)
    }
    return self.observation