Open olivierrochel-inria opened 1 year ago
Hi @olivierrochel-inria ππ»
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Additional pictures, left hand, forearm and hand covers removed:
What would you recommend to repair this ? And what could be the associated time/difficulty, or cost, in any case ? sending the robot (or only the arms) back to the iit, repairing it ourselves, or having someone with the right expertise to visit us and fix everything here ... ?
Hi @olivierrochel-inria,
Unfortunately, the forearms seem to be seriously damaged. I recommend you send us both arms in order to repair them. Below, I have provided instructions to assist you in removing the forearms.
Note Your robot was initially a v1.x model, which was upgraded to the ETH version in April 2016. I am unsure about the version of your forearms, so the following instructions are for the latest v2.7 iCub version. If you have an older version, the instructions may differ slightly. If you have any doubts or need more precise instructions, please post a picture of the inside of the upper arm covers, highlighting the support of the boards mounted on them.
Remove the upper arm covers. This can be achieved by removing all the small screws on the skin.
Detach the CAN Molex connectors that connect the mtb4 boards to the mc4plus-eb24
and mc4plus-eb27
. Here is the Logic scheme of the connections (See pages 1, 5, and 6): https://github.com/icub-tech-iit/electronics-wiring-public/blob/master/icub2.7/pdf/iCub2.7_E3.6.3_14838_Logic.pdf
Remove the 4 screws (circled in red) of the steel support with the electronics board (we need the electronics).
Important Before shipping, make sure that the unmounted lower arms look like the following:
IIT - Istituto Italiano di Tecnologia Via Morego 30 I-16163 Genoa, ITALY Att.n: Fabrizio Larosa (iCub Tech, CIRS) Phone: +39 010 28 98 223
IMPORTANT: please safely pack the goods using the maximum care to absorb shocks. If possible, indicate "fragile" on the parcel. As soon as you have a tracking number, pls let us know it so we may follow the shipping. If possible, ensure the goods with the shipping company - indicative (reasonable) values you may put 30keur for 1 lower-arm (forearm, wrist and hand altogether). If you need further info, pls let me know.
cc @andreaderito @Fabrizio69 @maggia80 @AntonioConsilvio @GiacomoVassallo13
Hi @sgiraz , all, Thank you very much for your answer. As you suggested this looks like a different version (V1), but the assembly is very similar : I will disconnect the boards (labeled 2B3, 2B4 ...) from above, remove the 3 screws from step 4, and send you the disconnected lower arms together with the electronics, as in you last picture.
The arms have been disconnected (see below), please let us know if you think something is missing.
The arms have been disconnected (see below), please let us know if you think something is missing.
Well done @olivierrochel-inria!
Everything looks good! π Feel free to prepare the package for the shipment of the forearms.
Before the shipment we have to estimate the costs for the maintenance intervention. Please, wait for our proposal and confirmation before proceeding with the shipment.
cc @andreaderito @maggia80
Thank you @sgiraz for your feedback, ok - we will wait for the quotation.
Minor addition to the damage assessment: the black cover of the left hand is broken (see picture), not a big deal compared to the broken tendons - a new one may be needed, or we should be able to fix it on our side (or maybe 3D-print a new one), feel free to suggest the best way to repair it in any case.
(covers removed for the picture, will be reassembled and shipped with the rest)
Dear @olivierrochel-inria , I'm in charge of preparing the quotation - pls be so kind as to pack the goods and communicate in this issue 1) dimensions and weight (also indicative) of the parcel 2) Exact address of the pick up of the goods 3) One or 2 reference persons at the pick-up (complete address + email address + office telephone number, possibly mobile - thx 4) If there are any traffic restrictions useful to know for express courier, just tell me. Thank you in advance - Andrea Derito
(covers removed for the picture, will be reassembled and shipped with the rest)
Don't worry, we'll repair/replace the covers alongside the other broken/missing parts.
cc @Fabrizio69
Thank you @andreaderito ,
I'm a bit confused, does that mean that you can organize transport in both directions? Or do you need this information for the return shipment ? I thought from previous exchanges that we were supposed to send the arms, and you'll take care of the return only - it's obviously simpler for us if you can manage both directions, but I'd like to be sure of the procedure to follow. Please accept my apologies if I misunderstood something.
Dear @olivierrochel-inria you are right, the first idea was you to manage the shipping because it was not that clear about the possible costs for the repair - but in the meantime it has been cleared and my colleagues have been able to estimate the maintenance service costs, so now I may be in condition to prepare the quotation and I may include both shipping (it simplifies things for you, and we may also activate our insurance policy on the parcel). So in brief I'll prepare the quotation and send it to you. Pls let me kindly have your answers to my questions above so I proceed with the quote, thanks and best
Hi @olivierrochel-inria,
The maintenance activities have been concluded successfully and the forearms are ready to be shipped back to you!
Let us know when you received the package.
cc @AntonioConsilvio @andreaderito @Fabrizio69
Hi @olivierrochel-inria,
Recently, you should received the forearms back. Have you had the opportunity to mount them? If yes, and everything is ok, I think we can close the issue, right?
cc @AntonioConsilvio
Hi, we received the arms last week, thanks. I'm just back in the lab, we plan to mount them asap (maybe today if all goes well), I'll keep you informed here.
Hi again, sorry for the delay.
the first try after remounting the arms failed with some CAN errors, we discovered a loose wire on a molex connector (possibly ripped off during remounting, or transport). This has been fixed, no CAN errors anymore, but we're now faced with:
4.570328
and many similar errors in the logs. Any help on how to fix or at least diagnose this will be welcome, I don't really know what to do next...
Full log attached log_pc104_yarprobotinterface_1457.txt
thanks, O.
Hi @olivierrochel-inria, from the log, it seems that the robot cannot find some CAN boards. To better understand the cause of the problem, I ask you to perform a few steps to get more information:
Find out if the CAN boards connected to the EMS are visible, following the discover
procedure: https://icub-tech-iit.github.io/documentation/icub_firmware/firmwareupdater/firmwareupdater/#discover_1
I would ask you to do this procedure on the robot head, for the ems4 boards with IP: 10.0.1.1, 10.0.1.2, 10.0.1.3 and 10.0.1.4.
When you are able to see all CAN boards, I would ask you for a screenshot of the situation!
It would also be useful to have a video of the robot start-up during the calibration phase of the yarprobotinterface
.
Please, send us feedback and if you have any questions feel free to ask!
Hi @AntonioConsilvio , thanks for your answer.
Here is the screenshot from the "discover procedure", let me know if this is what you need.
I'll send the video asap.
Hi again, here is the video.
The first few seconds are missing (but I think the calibration phase is there). The right arm look a bit loose to me (The hand even touched the leg during calibration, ooops), it might be related to a tendon that slipped and that we had to put back in place during remounting. The left arm start to move at t=90s approx.
https://github.com/robotology/icub-tech-support/assets/18719389/d80115e7-1ac7-4ddc-8bb6-79bce8f7d2a7
Bonus: screenshots of motorgui showing joint states after calibration for left and right arms
Hi @olivierrochel-inria, I have a few tips to give that might help decrease problems during calibration (I don't know if they will solve them all).
First, make sure that the configuration files inside the robots-configuration folder are aligned with the new changes made after the maintenance intervention, see PR:
Secondly, the starting position of the robot may negatively affect the calibration. In fact, the position of the shoulders (especially the YAW) before the yarprobotinterface
is launched should be approximately as follows:
So, the YAW of the shoulders around 0Β°, if possible the Roll slightly away from the torso and the Pitch slightly forward (around -10Β° should be fine).
Please, send us feedback and if you have any questions feel free to ask!
Hi, Back in the lab after a while, quick update:
So unless you tell my otherwise, my plan is to start again with a fresh, up-to-date install (will keep the old one as a fallback), try again, cross fingers, and keep you posted. Thanks, O.
Hi @olivierrochel-inria! The update should be possible. Sometimes it can be a bit of a complicated process, but it shouldn't be a bad choice. However, the robot should also work without an update, which is why I ask you again:
A new logger, which with the current starting position of the robot (mentioned in this comment) should have fewer errors and thus be more readable.
A video of the robot start-up during the calibration phase of the yarprobotinterface
.
A screenshot of the yarpmotorgui
of the joints not working properly.
Please, send us feedback and if you have any questions feel free to ask!
Hi again, I just tried to prepare the new video and the logs you asked for (no update yet, exact same setup as last time) - unfortunately the calibration did not start this time (log attached). Not sure about the reason... I tried 3 times without success. log_pc104_yarprobotinterface_1433.txt
Hi @olivierrochel-inria, analysing the logger, there could be two problems.
It seems that the robot is unable to discover the CAN boards under CFW2
.
For this I ask you to run the FirmwareUpdater
app on the robot head (entering from terminal with -X being a graphical
application). Then select the option there should be called CFW2<0>
, and then press discover
.
Please send us a screenshot of what you see.
There seems to be something wrong with the right hand MAIS (the board that controls the fingers). However, it seems to be responding. So you have to be able to start the yarprobotinterface
to understand the problem.
So, for now, I would focus on problem number 1, because I think that's what is blocking the robot from starting.
Please, send us feedback and if you have any questions feel free to ask!
Hi,
Here is the screenshot, seems to confirm your diagnostics.
Robot Name π€
iCubNancy01 S/N:021
Request/Failure description
After an impact on a table, several cables of the left and right hands were broken. Preliminary tests show no electronics failure, only mechanical ones. Any help on the best strategy to fix this would be warmly appreciated.
Detailed context
During an experiment in which the robot was supposed to point at things both arms hit a table. As a result at least two cables are broken or disconnected on the left hand, one on the right hand (see pictures below). Let us know if you need more views, or additional information.
What would you recommend to repair this ? And what could be the associated time/difficulty, or cost, in any case ? sending the robot (or only the arms) back to the iit, repairing it ourselves, or having someone with the right expertise to visit us and fix everything here ... ?
Left hand:
Right hand:
this doesn't look nice but possibly unrelated (left elbow):
@jbmouret @serena-ivaldi
Additional context
No response
How does it affect you?
No response