Hi! I have a question regarding the temperature-based delta angle clipping part of the depolyment code
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self.joint_temperature[:] = np.array([msg.motor_state[i].temperature[1] for i in range(HW_DOF)]) |
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# self.env.max_delta_angle_factor[(self.joint_temperature > 60) & (self.joint_temperature <= 80)] = 1.0 |
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# self.env.max_delta_angle_factor[(self.joint_temperature > 80) & (self.joint_temperature <= 100)] = 0.5 |
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# self.env.max_delta_angle_factor[(self.joint_temperature > 100) & (self.joint_temperature <= 115)] = 0.1 |
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# self.env.max_delta_angle_factor[(self.joint_temperature > 115)] = 0.0 |
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# self.env.max_delta_angle_factor[(self.joint_temperature <= 60)] = 1.0 |
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factor = 1 - ((self.joint_temperature - 80) / 35).clip(0., 1.) |
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self.env.max_delta_angle_factor = factor.astype(np.float64) |
My guess is that it is meant to handle nonlinearities when the motor gets hotter. But do you have any reference for the rationale behind this choice of implementation? Thank you!
