// env state - target
Vector3f targetCoords = getBluePillWorldTranslation();
Vector3f leftEyeCoords = leftEye.getWorldTranslation();
float distL = leftEyeCoords.distance(targetCoords) - TARGET_RADIUS;
Vector3f rightEyeCoords = rightEye.getWorldTranslation();
float distR = rightEyeCoords.distance(targetCoords) - TARGET_RADIUS;
Vector3f headCoords = head.getWorldTranslation();
float headDistance = headCoords.distance(targetCoords) - TARGET_RADIUS - HEAD_RADIUS;
boolean wasCollision = headDistance < 0.005f;
EnvState roboticArmEnvState = new EnvState(distL, distR, headDistance, relativePositions, wasCollision);