How to access to the current XY location and rotation of the agent?

[Berayksl]

I created a custom environment by using the config dictionary as in the example code:

from __future__ import annotations
import safety_gymnasium

if __name__ == '__main__':
  config = {
      'lidar_conf.max_dist': 3,
      'lidar_conf.num_bins': 16,
      'placements_conf.extents': [-1.5, -1.5, 1.5, 1.5],
      'Hazards': {
          'num': 1,
          'size': 0.7,
          'locations': [(0, 0)],
          'is_lidar_observed': True,
          'is_constrained': True,
          'keepout': 0.705,
      },
      'Goal': {
          'keepout': 0.305,
          'size': 0.3,
          'locations': [(1.1, 1.1)],
          'is_lidar_observed': True,
      },
  }

# environment from the config
env = safety_gymnasium.make('SafetyPointGoalBase-v0', config=config)
env = safety_gymnasium.wrappers.SafetyGymnasium2Gymnasium(env)

s, i = env.reset(seed=42)

for _ in range(1000):
    action = env.action_space.sample()
    s, a, d, t, i = env.step(action)
    env.render()
print('done')

However, I couldn't figure out how to access to the current XY location and rotation angle of the agent after each action. It was so easy to access to them in Safe Gym library by using env.robot_pos and env.robot_rot but they don't exist in safety gymnasium. I would appreciate it if someone can help me with this.

Thanks!

[muchvo]

You can refer to #54 and #112 .

[Berayksl]

Thank you so much!