code: def _get_obs(self):
      position = self.sim.data.qpos.flat.copy()
      velocity = self.sim.data.qvel.flat.copy()
  
      com_inertia = self.sim.data.cinert.flat.copy()
      com_velocity = self.sim.data.cvel.flat.copy()
  
      actuator_forces = self.sim.data.qfrc_actuator.flat.copy()
      external_contact_forces = self.sim.data.cfrc_ext.flat.copy()
  
      if self._exclude_current_positions_from_observation:
          position = position[2:]
  
      return np.concatenate(
          (
              position,
              velocity,
              com_inertia,
              com_velocity,
              actuator_forces,
              external_contact_forces,
          )
      )
  
file_path: gym/gym/envs/mujoco/humanoid_v3.py
imports: import numpy
  from gym import utils
  from gym.envs.mujoco import MuJocoPyEnv
  from gym.spaces import Box
label_desc: Use image node_id 7 for calling the HumanoidEnv obj's underlying member method code with example usage: obj._get_obs() and returns: np