code: def get_control(self, right=None, left=None):
          
          # Sync joint positions for IK.
          self.sync_ik_robot(self.robot_jpos_getter())
  
          # Compute new target joint positions if arguments are provided
          if (right is not None) and (left is not None):
              self.commanded_joint_positions = self.joint_positions_for_eef_command(
                  right, left
              )
  
          # P controller from joint positions (from IK) to velocities
          velocities = np.zeros(14)
          deltas = self._get_current_error(
              self.robot_jpos_getter(), self.commanded_joint_positions
          )
  
          for i, delta in enumerate(deltas):
              velocities[i] = -2 * delta
          velocities = self.clip_joint_velocities(velocities)
  
          self.commanded_joint_velocities = velocities
          return velocities
docs: Returns joint velocities to control the robot after the target end effector 
          positions and orientations are updated from arguments @left and @right.
          If no arguments are provided, joint velocities will be computed based
          on the previously recorded target.
  
          Args:
              left (dict): A dictionary to control the left end effector with these keys.
  
                  dpos (numpy array): a 3 dimensional array corresponding to the desired
                      change in x, y, and z left end effector position.
  
                  rotation (numpy array): a rotation matrix of shape (3, 3) corresponding
                      to the desired orientation of the left end effector.
  
              right (dict): A dictionary to control the left end effector with these keys.
  
                  dpos (numpy array): a 3 dimensional array corresponding to the desired
                      change in x, y, and z right end effector position.
  
                  rotation (numpy array): a rotation matrix of shape (3, 3) corresponding
                      to the desired orientation of the right end effector.
  
          Returns:
              velocities (numpy array): a flat array of joint velocity commands to apply
                  to try and achieve the desired input control.