(self, physics: 'mjcf.Physics')
return (joints_curr - joints_prev)[
        self._walker.mocap_to_observable_joint_order]/self._control_timestep
Joint velocity measurements at the control timestep.
Joint velocity measurements at the control timestep.
Joint velocity measurements at the control timestep .
def get_joints_vel_control(self, physics: 'mjcf.Physics'):
    """Joint velocity measurements at the control timestep."""
    del physics  # physics unused by get_joints_vel_control.

    joints_curr, joints_prev = (self._walker_features['joints'],
                                self._walker_features_prev['joints'])
    return (joints_curr - joints_prev)[
        self._walker.mocap_to_observable_joint_order]/self._control_timestep
def get_joints_vel_control ( self , physics : 'mjcf.Physics' ) : del physics # physics unused by get_joints_vel_control. joints_curr , joints_prev = ( self . _walker_features [ 'joints' ] , self . _walker_features_prev [ 'joints' ] ) return ( joints_curr - joints_prev ) [ self . _walker . mocap_to_observable_joint_order ] / self . _control_timestep