def METHOD_NAME(self):
    """We should also return the gripper's orientation.
    """
    obs = super().METHOD_NAME()
    gripper_rot = rotations.mat2euler(
        self.sim.data.get_site_xmat('robot0:grip'))
    obs['observation'] = np.concatenate(
        [obs['observation'], gripper_rot.ravel()])
    return obs