[HUMANOID] Control Loop Performance Metrics

[danielsanei]

Gather system motor control metrics for current Python code. Eventually compare against C++ motor control implementation (see Task #19). Define control loop period, measure jitter, calculate logic execution time, and round-trip time (time from sending command to receiving response).

This will measure the delay of the CAN Bus and Ubuntu OS, and provide a numerical perspective on Python vs. C++ for low-level motor control.

[DarinAnthony]

Additional metrics include: Temperature, Measured Torque, Measured Electrical Current, current position, current velocity per motor

[Arcilios]

Accoding to ROS2, the control command can be ran at 50hz for certain.