State Files

Intro

There are these files that are "state" files. These files are used to initialize the pose of the character the the beginning of the episode. They are in reduced coordinates and also in euclidean coordinates.

"Pose": [world_position_root_x, world_position_root_y, world_position_root_z, world_rotation_root_x, world_rotation_root_y, world_rotation_root_z, relative_rotation_from_parent_x, ....] "Vel": [world_linear_vel_root_x, world_linear_vel_root_y, world_linear_vel_root_z, ???? ] I think the rest is angular velocities? Note: This example is in 2D

{
"Pose":[0.000000, 0.769533, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 0.347955, -0.410840, 0.062890, 0.056435, -1.187515, 0.098020],
"Vel":[1.544400, 0.394300, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, -3.572100, 2.605000, 0.967000, 2.258300, -1.557500, -0.102600]
}