reach task

[Nimingez]

class ObservationsCfg:
"""Observation specifications for the MDP."""

@configclass
class PolicyCfg(ObsGroup):
    """Observations for policy group."""

    # observation terms (order preserved)
    joint_pos = ObsTerm(func=mdp.joint_pos_rel)
    joint_vel = ObsTerm(func=mdp.joint_vel_rel)
    pose_command = ObsTerm(func=mdp.generated_commands, params={"command_name": "ee_pose"})
    actions = ObsTerm(func=mdp.last_action)
    def __post_init__(self):
        self.enable_corruption = True
        self.concatenate_terms = True

# observation groups
policy: PolicyCfg = PolicyCfg()

I want to record all the places where the robotic arm has moved, which are all the actions, and then include them as part of the observation. In the subsequent guidance, the robotic arm should avoid these places. What should I do?