Character Pose Vector

#Intro

The vector has a form similar to:

[
root_y_from_ground,

pelvis_relative_pos_x,
pelvis_relative_pos_y,
pelvis_relative_pos_z,
pelvis_relative_angle_w,
pelvis_relative_angle_x,
pelvis_relative_angle_y,
pelvis_relative_angle_z,
pelvis_rel_vel_x,
pelvis_rel_vel_y,
pelvis_rel_vel_z,
pelvis_rel_angular_vel_x,
pelvis_rel_angular_vel_y,
pelvis_rel_angular_vel_z,

right_hip_relative_pos_x,
right_hip_relative_pos_y,
right_hip_relative_pos_z,
right_hip_relative_angle_w,
right_hip_relative_angle_x,
right_hip_relative_angle_y,
right_hip_relative_angle_z,
right_hip_rel_vel_x,
right_hip_rel_vel_y,
right_hip_rel_vel_z,
right_hip_rel_angular_vel_x,
right_hip_rel_angular_vel_y,
right_hip_rel_angular_vel_z,

right knee, right ankle....

same for rest of joints
]