Please give the qvel and qpos full description. I can't find the accurate information about these (inc. the official documetation). For example the qpos of object [-4.94039155e-06 -4.65361984e-07 1.72845264e-03 9.99999944e-01 -3.39572142e-07 -3.33721234e-04 -9.11633641e-09 7.09530773e-04]. According to the forum information 0:2 is position, 3:6 is quaternion position. And what is qpos? Xpos (get_body_xpos) of main body is: [-4.92470031e-06 -4.98869331e-07 1.72604029e-03] that means the qpos[0:2] is really the object position. Xquat (get_body_xquat) of main body is: [ 9.99999944e-01 -3.65748081e-07 -3.33730850e-04 -1.04041401e-08] that means the qpos[3:6] is really the rotation quaterion. And what is qpos? I have no idea and spent on it lot of time. Lets go to qvel. That object has a qvel [-5.58099964e-04 -3.81232796e-05 1.75899364e-01 -5.07648514e-05 -8.90142672e-02 -1.97177224e-06 9.44856324e-02]. Xvelp (get_body_xvelp) of main object is [-5 .58099964e-04 -3.81232796e-05 1.75899364e-01] Xvelr (get_body_xvelr) of main object is [-5.07653980e-05 -8.90142672e-02 -1.94054242e-06]. its in euler not quaterion. Am i right? And what is qvel? Thanks!