def qvel_names()

in bisk/features/base.py [0:0]

• 21 lines of code
• 7 McCabe index (conditional complexity)

    def qvel_names(self) -> List[str]:
        names = ['' for i in range(len(self.p.data.qvel))]
        for jn in self.p.named.model.jnt_type.axes.row.names:
            typ = self.p.named.model.jnt_type[jn]
            adr = self.p.named.model.jnt_dofadr[jn]
            if typ == 0:
                names[adr + 0] = f'{jn}:lvx'
                names[adr + 1] = f'{jn}:lvy'
                names[adr + 2] = f'{jn}:lvz'
                names[adr + 3] = f'{jn}:avx'
                names[adr + 4] = f'{jn}:avy'
                names[adr + 5] = f'{jn}:avz'
            elif typ == 1:
                names[adr + 0] = f'{jn}:avx'
                names[adr + 1] = f'{jn}:avy'
                names[adr + 2] = f'{jn}:avz'
            elif typ == 2 or typ == 3:
                names[adr] = f'{jn}:v'
            else:
                raise ValueError(f'Unknown joint type {typ}')
        return names