import collections


def _common_observations(physics):
  """Returns the observations common to all tasks."""
  obs = collections.OrderedDict()
  obs['egocentric_state'] = physics.egocentric_state()
  obs['torso_velocity'] = physics.torso_velocity()
  obs['torso_upright'] = physics.torso_upright()
  obs['imu'] = physics.imu()
  obs['force_torque'] = physics.force_torque()
  return obs