code: def get_model(self, ids):
          
          to_get_ids = [i for i in ids if i not in self._known_models]
          models = [dxl_to_model(m) for m in self._get_model(to_get_ids, convert=False)]
          self._known_models.update(zip(to_get_ids, models))
  
          return tuple(self._known_models[id] for id in ids)
docs: Gets the model for the specified motors.