Closed MissingSignal closed 4 months ago
cc @Matilde-Antonj
Hi @MissingSignal, @GiacomoVassallo13 and I fixed the skin cable and tried to fix the index finger problem by replacing the distal tendon (and also the sheath), but unfortunately the problem persists.
During the intervention, we noticed that the distal tendon of the thumb on the left hand was broken, so we replaced that as well.
Also during intervention, the N. 7 tendon of the left shoulder was torn at the crimp, so we replaced that as well.
Then, during the first robot start-up, the ring and pinky tendons were broken, so we replaced those as well.
Unfortunately, the problem on the index finger persists, but we may have another idea to solve this problem, you will receive instructions soon.
cc @sgiraz @Matilde-Antonj
Just for cross reference, the same behavior is happening in:
cc @AntonioConsilvio
Hi @MissingSignal, during the last intervention, I tried to increase the max value for the motor rotation, but unfortunately it didn't solve the problem.
<!--USE THIS FOR CAN ROBOT CALIBRATION-->
<group name="CALIBRATION">
<param name="calibrationType"> 3 4 4 4 4 4 4 4 </param>
<param name="calibration1"> 1849.8 255.0 57.0 255.0 111.0 243.0 51.0 748.0 </param>
<param name="calibration2"> 10.0 10.0 30.0 10.0 10.0 10.0 10.0 10.0 </param>
-<param name="calibration3"> 0.0 6000.0 -6600.0 6000.0 7000.0 6000.0 -7000.0 -14000.0 </param>
+<param name="calibration3"> 0.0 6000.0 -6600.0 6000.0 10000.0 6000.0 -7000.0 -14000.0 </param>
<param name="calibration4"> 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibration5"> 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationZero"> 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="calibrationDelta"> 0.00 0.00 0.00 0.00 0.00 0.00 0.00 0.00 </param>
<param name="startupPosition"> 45.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 </param>
<param name="startupVelocity"> 100.0 100.0 100.0 100.0 100.0 100.0 100.0 100.0 </param>
<param name="startupMaxPwm"> 0 0 0 0 0 0 0 0 </param>
<param name="startupPosThreshold"> 1000 1000 1000 1000 1000 1000 1000 1000 </param>
</group>
We need further time to investigate on a possible solution to fix this problem.
cc @maggia80 @sgiraz
This issue has been automatically marked as stale because it did not have recent activity. It will be closed if no further activity occurs.
Hi @AntonioConsilvio,
Do you have any updates?
Thank you very much!
cc @reafrancesco @MissingSignal
Do you have any updates?
Hi @Matilde-Antonj,
@AntonioConsilvio and I are going to plan the intervention in Erzelli next Tuesday (5th of March). We also intend to solve the problem mentioned in https://github.com/robotology/icub-tech-support/issues/1747.
cc @Fabrizio69
Perfect @sgiraz, thank you very much. See you on Tuesday!
cc @AntonioConsilvio @Fabrizio69
/remind 4th March Maintenance activity scheduled for tomorrow (cc @AntonioConsilvio @Fabrizio69)
⏰ Reminder Monday, March 4, 2024 10:00 AM (GMT+01:00)
Maintenance activity scheduled for tomorrow (cc @AntonioConsilvio @Fabrizio69)
🔔 @sgiraz
Maintenance activity scheduled for tomorrow (cc @AntonioConsilvio @Fabrizio69)
Hi @MissingSignal and @Matilde-Antonj,
As per today's intervention, I would consider this issue solved.
✅ @AntonioConsilvio and I replaced the left-hand distal tendon including the proper toflon_sheat
and We inverted the sign of the PIDs for the left-index distal and tuned its calibration values using the excel file. These changes were necessary because of the flipped magnets mounted on the joint.
[!Important] Please, note that We applied the above changes on
icub-head
live USB (icub@pc104) under/usr/local/src/robot/robotology-superbuild/src/robots-configuration
. These changes should be merged in https://github.com/robotology/robots-configuration/tree/master through a proper PR and applied to thebuild/install/
directory of the robotology-superbuild running the make command within thebuild
folder.[!Warning] The general calibration order of the robot's joints is not correct. In detail, it calibrated the hands before the arms. This is a strange behavior and we have to investigate further on it. For this specific problem, We'll give you support remotely asap, tracking the activity in https://github.com/robotology/icub-tech-support/issues/1747.
If you agree, I would close this issue. Let me know.
Robot Name 🤖
iCubGenova03 S/N:020
Request/Failure description
Detailed context
The forearm skin cable should be easy to fix. It remains to investigate the functioning of the motor of the left index finger, which stops turning once a certain degree of extension is reached.
@GiacomoVassallo13 and @AntonioConsilvio are already aware of these two problems (see https://github.com/robotology/icub-tech-support/issues/1563).
Additional context
https://github.com/robotology/icub-tech-support/assets/36140565/655cfba4-94db-450c-990c-db40808f1768
How does it affect you?
No response