niRSrSSKrSrSrSrSrSrSr\\\-- r Sr "S S \ 5r g) z-This file implements an accurate motor model.N2g@g0@g+?g h"l?cZ\rSrSrSrSSjrSrSrSrSr Sr S r SS jr S r S rg ) MotorModelaThe 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 S/[-Ulg)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 NUM_MOTORS_strength_ratios)selftorque_control_enabledkpkds [/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/envs/motor.py__init__MotorModel.__init__sP#9 HH'D!DM1D1D5D:D EJ.Dc:[R"U5Ulg)zSet the strength of each motors relative to the default value. Args: ratios: The relative strength of motor output. A numpy array ranging from 0.0 to 1.0. N)nparrayr)rratioss r#set_strength_ratiosMotorModel.set_strength_ratios(sHHV,Dr&cXlX lg)zSet the gains of all motors. These gains are PD gains for motor positional control. kp is the proportional gain and kd is the derivative gain. Args: kp: proportional gain of the motors. kd: derivative gain of the motors. N)rr)rr!r"s r#set_motor_gainsMotorModel.set_motor_gains1sHHr&cXlgNr)rvoltages r# set_voltageMotorModel.set_voltage>sMr&cUR$r1r2rs r# get_voltageMotorModel.get_voltageAs ==r&cXlgr1r)rviscous_dampings r#set_viscous_dampingMotorModel.set_viscous_dampingDs+r&cUR$r1r;r7s r#get_viscous_damplingMotorModel.get_viscous_damplingGs   r&Nc:UR(aUnO_Uc%[R"[UR5nUc%[R"[UR 5nSU-X!- -Xc-- n[R "USS5nURXt5$)a!Convert the commands (position control or torque control) to torque. Args: motor_commands: The desired motor angle if the motor is in position control mode. The pwm signal if the motor is in torque control mode. motor_angle: The motor angle observed at the current time step. It is actually the true motor angle observed a few milliseconds ago (pd latency). motor_velocity: The motor velocity observed at the current time step, it is actually the true motor velocity a few milliseconds ago (pd latency). true_motor_velocity: The true motor velocity. The true velocity is used to compute back EMF voltage and viscous damping. kp: Proportional gains for the motors' PD controllers. If not provided, it uses the default kp of the minitaur for all the motors. kd: Derivative gains for the motors' PD controllers. If not provided, it uses the default kp of the minitaur for all the motors. Returns: actual_torque: The torque that needs to be applied to the motor. observed_torque: The torque observed by the sensor. gr)rr(fullrrrclip_convert_to_torque_from_pwm)rmotor_commands motor_anglemotor_velocitytrue_motor_velocityr!r"pwms r#convert_to_torqueMotorModel.convert_to_torqueJs8 ## c  WWZ *  WWZ * G{3 4r7J Jc ''#tS !C  + +C EEr&c[R"UR[R"U5UR-UR - -[ *[ 5n[R"[R"U5UR-URUR-[R"U5-- [*[5nX@R - n[R"U5n[R"U5n[R"XpRUR5n[R"Xh5n[R"URU5nX4$)a\Convert the pwm signal to torque. Args: pwm: The pulse width modulation. true_motor_velocity: The true motor velocity at the current moment. It is used to compute the back EMF voltage and the viscous damping. Returns: actual_torque: The torque that needs to be applied to the motor. observed_torque: The torque observed by the sensor. )r(rErasarrayrrOBSERVED_TORQUE_LIMITrVOLTAGE_CLIPPINGsignabsoluteinterprrmultiplyr) rrKrJobserved_torque voltage_netcurrent current_signcurrent_magnitude actual_torques r#rF&MotorModel._convert_to_torque_from_pwmrsgg C4==!@4CSCS!ST  57O '' 3$--'  !6!6 6"**EX:YY Z +-K,,,G777#L G,II/1D1DdFXFXYMKK   /- ,!  &FP*r&r) ranumpyr(rQrPrrrrMOTOR_SPEED_LIMITrobjectrrcr&r#rgsS3 !%:=R%RS  ~*~*r&