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Motor diagnostics #167

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Merged
wdc3iii merged 2 commits into from
Jul 6, 2026
Merged

Motor diagnostics #167

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f493e37
Publish per-motor fault codes in ObkJointEncoders (G1)
wdc3iii Jul 3, 2026
3739b0b
Merge pull request #166 from Caltech-AMBER/main
wdc3iii Jul 4, 2026
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3 changes: 2 additions & 1 deletion obelisk/cpp/hardware/robots/unitree/g1_interface.h
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Original file line number Diff line number Diff line change
Expand Up @@ -233,6 +233,7 @@ namespace obelisk {
if (this->pub_temps_) {
joint_state.motor_surface_temps.resize(num_motors_);
joint_state.motor_winding_temps.resize(num_motors_);
joint_state.motor_states.resize(num_motors_);
}

size_t ind = 0;
Expand All @@ -255,7 +256,7 @@ namespace obelisk {
if (this->pub_temps_) {
joint_state.motor_surface_temps.at(ind) = low_state.motor_state()[i].temperature()[0];
joint_state.motor_winding_temps.at(ind) = low_state.motor_state()[i].temperature()[1];

joint_state.motor_states.at(ind) = low_state.motor_state()[i].motorstate();
}

ind++;
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1 change: 1 addition & 0 deletions obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/msg/ObkJointEncoders.msg
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Expand Up @@ -10,4 +10,5 @@ float64[] joint_pos
float64[] joint_vel
float64[] motor_surface_temps
float64[] motor_winding_temps
uint32[] motor_states # per-motor fault/error code from the vendor low state (0 = OK); populated together with the temps
string[] joint_names