root_h_obs: (1, 1)
local_body_pos: (1, 69) -> 23 * 3
local_body_rot_obs: (1, 144) -> 24 * 6 (rotation matrix)
local_body_vel: (1, 72) -> 24 * 3
local_body_ang_vel: (1, 72) -> 24 * 3

24 bodies including root