ó ÌnióãóV•SrSSKrSSKrSSKJr SrSrSrSr Sr Sr S r "S S \ 5rg) zMotor model for laikago.éN)Ú robot_configé ééééécó‚•\rSrSrSrSSS\R R4SjrSr Sr S r S r S r S rSS jrSrg)ÚLaikagoMotorModeléaÀA simple motor model for Laikago. When in POSITION mode, the torque is calculated according to the difference between current and desired joint angle, as well as the joint velocity. For more information about PD control, please refer to: https://en.wikipedia.org/wiki/PID_controller. The model supports a HYBRID mode in which each motor command can be a tuple (desired_motor_angle, position_gain, desired_motor_velocity, velocity_gain, torque). é<rNcóP•XlX lX0lUbk[U[R [ R45(a[ R"U5UlO [ R"[U5UlX@l [ R"[S5Ul g)Nr) Ú_kpÚ_kdÚ_torque_limitsÚ isinstanceÚ collectionsÚSequenceÚnpÚndarrayÚasarrayÚfullÚ NUM_MOTORSÚ_motor_control_modeÚ_strength_ratios)ÚselfÚkpÚkdÚ torque_limitsÚmotor_control_modes Úe/home/james-whalen/.local/lib/python3.13/site-packages/pybullet_envs/minitaur/robots/laikago_motor.pyÚ__init__ÚLaikagoMotorModel.__init__"ss€ð „HØ„HØ'ÔØÑ Ü M¤K×$8Ñ$8¼"¿*¹*Ð#E× FÑ FÜ Ÿjšj¨Ó7ˆÕä Ÿgšg¤j°-Ó@ˆÔØ1ÔÜŸGšG¤J°Ó2€DÕócó•Xlg)z¢Set the strength of each motors relative to the default value. Args: ratios: The relative strength of motor output. A numpy array ranging from 0.0 to 1.0. N)r)rÚratioss r!Úset_strength_ratiosÚ%LaikagoMotorModel.set_strength_ratios2s €ð#Õr$có•XlX lg)zãSet 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)rrrs r!Úset_motor_gainsÚ!LaikagoMotorModel.set_motor_gains;s€ð„HØ…Hr$có•g©N©)rÚvoltages r!Ú set_voltageÚLaikagoMotorModel.set_voltageHó€Ør$có•g©Ngr.©rs r!Ú get_voltageÚLaikagoMotorModel.get_voltageKó€Ø r$có•gr-r.)rÚviscous_dampings r!Úset_viscous_dampingÚ%LaikagoMotorModel.set_viscous_dampingNr2r$có•gr4r.r5s r!Úget_viscous_damplingÚ&LaikagoMotorModel.get_viscous_damplingQr8r$cóú•AU(d URnU[RRLa'[ U5[ :XdeUR U-nXf4$SnSnSn Sn [R"[ S5n U[RRLaK[ U5[ :XdeURn URn Un[R"[ S5nO‰U[RRLal[ U5[[ -:XdeU[S[2n U[S[2n U[ S[2nU["S[2nU[$S[2n SX’U- --U X8- -- U -nUR U-nUR&b\[ UR&5[ U5:wa [)S5e[R*"USUR&-UR&5nXf4$)a@Convert the commands (position control or torque control) to torque. Args: motor_commands: The desired motor angle if the motor is in position control mode. The pwm signal if the motor is in torque control mode. motor_angle: The motor angle observed at the current time step. It is actually the true motor angle observed a few milliseconds ago (pd latency). motor_velocity: The motor velocity observed at the current time step, it is actually the true motor velocity a few milliseconds ago (pd latency). true_motor_velocity: The true motor velocity. The true velocity is used to compute back EMF voltage and viscous damping. motor_control_mode: A MotorControlMode enum. Returns: actual_torque: The torque that needs to be applied to the motor. observed_torque: The torque observed by the sensor. NréÿÿÿÿzrWÚ__static_attributes__r.r$r!r r sO†ñ ðØØ!Ø".×"?Ñ"?×"HÑ"Hô 3ò #ò ò òò òð,0÷ A(r$r )r]rÚnumpyrÚpybullet_envs.minitaur.robotsrrrGrJrHrKrIrLÚobjectr r.r$r!ÚrbsGðÙãÛå6à € àÐð€ØÐØ€ØÐØ€ ôA(˜õA(r$