def METHOD_NAME(self):
    js = self.last_joint_state
    if js is None: return None
    if len(js.velocity) == 0: return None
    dq = self.robot.getVelocity()
    for (v,n) in zip(js.velocity,js.names):
        dq[self.link_dict[n]] = v
    return self.velocityFromKlampt(dq)