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ergoCub 1.0 S/N:000 – Calibration type 10 without AMO not working #1660

Closed lrapetti closed 7 months ago

lrapetti commented 9 months ago

Robot Name 🤖

ergoCub 1.0 S/N:000

Request/Failure description

GIven the issue on the robot encoder (https://github.com/robotology/icub-tech-support/issues/1658) we tried to run the special calibration type 10 disabling the AMO sensor in the right hip pitch (as documented in https://github.com/icub-tech-iit/documentation/pull/321).

In order to do so, what we did was to replace amo with none for the first joint in https://github.com/robotology/robots-configuration/blob/0891fbec0448283c5f62fe91f6b7c4e98b4cac8e/ergoCubSN000/hardware/motorControl/right_leg-eb6-j0_3-mc_service.xml#L39.

Since this feature is not used around, we are not sure if its an hardware issues or it is not properly configured.

Detailed context

The robot does not properly calibrate and the joint goes to idle as shown in the video:

https://github.com/robotology/icub-tech-support/assets/35487806/4d76c941-9491-4385-b754-3db19a54405a

Here is the log of the yarprobotinterface

log_ergocub-torso_yarprobotinterface_3015_calibration.txt

From the yarpmotorgui, we notice that the joint measurement were not properly calibrated.

Additional context

No response

How does it affect you?

No response

lrapetti commented 9 months ago

cc @pattacini @ale-git @DanielePucci @CarlottaSartore @GiulioRomualdi

AntonioConsilvio commented 8 months ago

Hi @lrapetti, talking with @ale-git, the problem is due to the EMS firmware that when using only the motor encoder to calibrate enables a timer of only one second, if the joint does not calibrate within that second, it goes into idle.

@ale-git is probably already working on this, however it is no longer necessary to disable the AMO as it has been fixed, see issue:

cc @sgiraz

GiulioRomualdi commented 8 months ago

If the calibration type 10 is not working I would avoid to close the issue

sgiraz commented 8 months ago

As written by @AntonioConsilvio, @ale-git is already working on it. I put the issue in review waiting for feedback from @ale-git.

sgiraz commented 8 months ago

Hi @ale-git, do you have any update on this?

ale-git commented 8 months ago

This version has been merged yesterday and it works: https://github.com/robotology/icub-firmware-build/blob/devel/ETH/EMS/bin/application/ems.hex

sgiraz commented 8 months ago

This version has been merged yesterday and works: https://github.com/robotology/icub-firmware-build/blob/devel/ETH/EMS/bin/application/ems.hex

Nice! 🚀 @lrapetti Let's flash this FW on all the EMS boards of the robot.

I'll be waiting for feedback.

cc @GiulioRomualdi @AntonioConsilvio

lrapetti commented 8 months ago

Great!

@lrapetti Let's flash this FW on all the EMS boards of the robot.

I have no plan to use the robot before it leaves the lab, are you going to handle the update of the board?

AntonioConsilvio commented 7 months ago

Hi! Me and @GiulioRomualdi updated the firmware of the EMS and the robot works properly! Closing.