(self)
return self.data.qvel[qvel_index].copy()
Returns the velocity of all hinge joints (skipping free joints).
Returns the velocity of all hinge joints (skipping free joints).
Returns the velocity of all hinge joints ( skipping free joints ) .
def joint_velocities(self):
    """Returns the velocity of all hinge joints (skipping free joints)."""
    hinge_joints = self.model.jnt_type == _HINGE_TYPE
    qvel_index = self.model.jnt_dofadr[hinge_joints]
    return self.data.qvel[qvel_index].copy()
def joint_velocities ( self ) : hinge_joints = self . model . jnt_type == _HINGE_TYPE qvel_index = self . model . jnt_dofadr [ hinge_joints ] return self . data . qvel [ qvel_index ] . copy ( )