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ami-iit / bipedal-locomotion-framework

Suite of libraries for achieving bipedal locomotion on humanoid robots
https://ami-iit.github.io/bipedal-locomotion-framework/
BSD 3-Clause "New" or "Revised" License
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Enable the reading and logging of motor temperatures #813

Closed isorrentino closed 3 months ago

isorrentino commented 4 months ago

Today I tested the logging on the robot and it works fine. Here is a plot:

image

GiulioRomualdi commented 3 months ago

For the time being, we are unable to retrieve the temperature data in the same manner as other sensors (such as joint encoders, IMU, FTS), as elaborated in https://github.com/ami-iit/bipedal-locomotion-framework/issues/819. Therefore, modifying the code of SensorBridge is necessary, which falls outside the scope of the current pull request (PR).

However, we cannot merge the PR in its current state, as it would corrupt the collected dataset. This issue has already been noticed by @carloscp3009, @isorrentino, and @fils99, due to the change in the expected data rate from 100Hz to a lower frequency of approximately 14Hz.

Given that I'm going to close this PR without merging it 😭