(self)
return self.data.qpos[qpos_index].copy()
Returns the configuration of all hinge joints (skipping free joints).
Returns the configuration of all hinge joints (skipping free joints).
Returns the configuration of all hinge joints ( skipping free joints ) .
def joint_angles(self):
    """Returns the configuration of all hinge joints (skipping free joints)."""
    hinge_joints = self.model.jnt_type == _HINGE_TYPE
    qpos_index = self.model.jnt_qposadr[hinge_joints]
    return self.data.qpos[qpos_index].copy()
def joint_angles ( self ) : hinge_joints = self . model . jnt_type == _HINGE_TYPE qpos_index = self . model . jnt_qposadr [ hinge_joints ] return self . data . qpos [ qpos_index ] . copy ( )