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

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!

Start by tracing where the S2M2 Unicycle model defines linear velocity and follow its motion primitives or dynamics to look for angular velocity and its bounds. Compare those code paths with the paper's stated range of [−2, 2] rad/s. Done means documenting the relevant file or function and whether angular velocity is explicit or implicit.