def velocities(robo):
symo = Symoro(None)
symo.file_open(robo, 'vel')
symo.write_params_table(robo, 'Link velocities')
antRj, antPj = compute_rot_trans(robo, symo)
w = Init.init_w(robo)
v = Init.init_v(robo)
for j in xrange(1, robo.NL):
jRant = antRj[j].T
qdj = Z_AXIS * robo.qdot[j]
wi = _omega_i(robo, symo, j, jRant, w)
w[j] = _omega_j(robo, j, jRant, w, wi, qdj)
symo.mat_replace(w[j], 'W', j, forced=True)
_v_j(robo, j, antPj, jRant, v, w, qdj)
symo.mat_replace(v[j], 'V', j, forced=True)
symo.file_close()
return symo
