Inconsistency regarding the compass gait walker (Chapter 4) angle velocity

[thvhauwe]

Regarding the simulation of the Compass Gait Walker, Chapter 4 ("simple models of walking) it is stated post-impact velocity is zero (inelastic collision, e=0):

However the velocity of the hip angle is non zero at impact (albeit somewhat close).

Any idea how to check the post-impact velocity of the swing feet, if it is indeed zero?