Question about angular velocity in Unicycle (S2M2) model used in experiments

[Olrun]

Hi, thank you for sharing this great work and the code.

I have a question regarding the Unicycle (S2M2) model used in the experiments.

In the paper (db-ecbs), it is stated that:

“Unicycle (S2M2) is a unicycle 1st order with a spherical collision shape and higher angular velocity bounds of ω ∈ [−2, 2] rad/s.”

However, while going through the code, I was able to find where the linear velocity is defined and constrained, but I could not clearly identify where the angular velocity (ω) and its bounds are implemented for the S2M2 model.

Could you please clarify:

Where in the code the angular velocity for the Unicycle (S2M2) model is defined or constrained?

Is the angular velocity explicitly modeled in the motion primitives / dynamics, or is it implicitly handled in some other way?

Any pointer to the relevant file or function would be greatly appreciated.

Thanks again for making the code available!