(self)
return tuple(jnt for jnt in self._mjcf_root.find_all('joint')
                 if 'vertebra' not in jnt.name)
Return primary (non-vertebra) joints.
Return primary (non-vertebra) joints.
Return primary ( non - vertebra ) joints .
def primary_joints(self):
    """Return primary (non-vertebra) joints."""
    return tuple(jnt for jnt in self._mjcf_root.find_all('joint')
                 if 'vertebra' not in jnt.name)
def primary_joints ( self ) : return tuple ( jnt for jnt in self . _mjcf_root . find_all ( 'joint' ) if 'vertebra' not in jnt . name )