def dof(self):
        """
        Returns the DoF of the robot (with grippers).
        """
        dof = self.mujoco_robot.dof
        if self.has_gripper:
            dof += self.gripper.dof
        return dof
def dof ( self ) : dof = self . mujoco_robot . dof if self . has_gripper : dof += self . gripper . dof return dof
Returns the DoF of the robot (with grippers).