cmoxiv

## Values in the observation vector
# 'vtgt_field': vtgt vectors in body frame (2*11*11 = 242 values)
# 'pelvis': height, pitch, roll, 6 vel (9 values)
# for each 'r_leg' and 'l_leg' (*2)
#   'ground_reaction_forces' (3 values)
#   'joint' (4 values)
#   'd_joint' (4 values)
#   for each of the eleven muscles (*11)
#       normalized 'f', 'l', 'v' (3 values)
# 242 + 9 + 2*(3 + 4 + 4 + 11*3) = 339