code: def clip_joint_velocities(self, velocities):
          
          for i in range(len(velocities)):
              if velocities[i] >= 1.0:
                  velocities[i] = 1.0
              elif velocities[i] <= -1.0:
                  velocities[i] = -1.0
          return velocities
docs: Clips joint velocities into a valid range.