def get_single_observation(self):
        """
        Get the observation for one object
        """
        if self.__class__ is BaseEnv:
            o = DummyObservation()
        else:
            if self.config["agent_observation"]:
                o = self.config["agent_observation"](self.config)
            else:
                img_obs = self.config["image_observation"]
                o = ImageStateObservation(self.config) if img_obs else LidarStateObservation(self.config)
        return o

        Get the observation for one object
        
metadrive/envs/base_env.py