niNSrSSKrSrSrSrSrSrSr\\\-- r "SS \ 5r g) z-This file implements an accurate motor model.N2g@g0@g+?g h"l?cF\rSrSrSrS SjrSrSrSrSr Sr S r S r g ) MotorModel aThe accurate motor model, which is based on the physics of DC motors. The motor model support two types of control: position control and torque control. In position control mode, a desired motor angle is specified, and a torque is computed based on the internal motor model. When the torque control is specified, a pwm signal in the range of [-1.0, 1.0] is converted to the torque. The internal motor model takes the following factors into consideration: pd gains, viscous friction, back-EMF voltage and current-torque profile. cXlX lX0l[Ul[ Ul[Ul[Ul /SQUl /SQUl g)N)r (r<)rgffffff?g@g@g @g @) _torque_control_enabled_kp_kdMOTOR_RESISTANCE _resistance MOTOR_VOLTAGE_voltageMOTOR_TORQUE_CONSTANT_torque_constantMOTOR_VISCOUS_DAMPING_viscous_damping_current_table _torque_table)selftorque_control_enabledkpkds T/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/bullet/motor.py__init__MotorModel.__init__sA#9 HH'D!DM1D1D5D:DcXlgNr)rvoltages r set_voltageMotorModel.set_voltage%sMr"cUR$r$r%rs r get_voltageMotorModel.get_voltage(s ==r"cXlgr$r)rviscous_dampings rset_viscous_dampingMotorModel.set_viscous_damping+s+r"cUR$r$r.r*s rget_viscous_damplingMotorModel.get_viscous_dampling.s   r"cUR(aUnO"UR*X!- -URU-- n[R"USS5nUR XC5$)aConvert the commands (position control or torque control) to torque. Args: motor_commands: The desired motor angle if the motor is in position control mode. The pwm signal if the motor is in torque control mode. current_motor_angle: The motor angle at the current time step. current_motor_velocity: The motor velocity at the current time step. Returns: actual_torque: The torque that needs to be applied to the motor. observed_torque: The torque observed by the sensor. gg?)rrrnpclip_convert_to_torque_from_pwm)rmotor_commandscurrent_motor_anglecurrent_motor_velocitypwms rconvert_to_torqueMotorModel.convert_to_torque1s[ ## chhY-> ? XX. ./c ''#tS !C  + +C HHr"c [R"URXR-UR- -[ *[ 5n[R"XR-URUR -U-- [*[5nX@R- n[R"U5n[R"U5n[R"XpRUR5n[R"Xh5nX4$)aConvert the pwm signal to torque. Args: pwm: The pulse width modulation. current_motor_velocity: The motor velocity at the current time step. Returns: actual_torque: The torque that needs to be applied to the motor. observed_torque: The torque observed by the sensor. )r6r7rrrOBSERVED_TORQUE_LIMITrVOLTAGE_CLIPPINGsignabsoluteinterprrmultiply) rr<r;observed_torque voltage_netcurrent current_signcurrent_magnitude actual_torques rr8&MotorModel._convert_to_torque_from_pwmEsggd33s]]7JTM]M]7]^446KMO'' mm  !6!6 6:PP Q +-K,,,G777#L G,II/1D1DdFXFXYMKK rWsN3 !%:=R%RSQ*Q*r"