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ergoCub 1.1 S/N:001 – Left-wrist fails to start or calibrate #1752

Closed vigisushrutha23 closed 4 months ago

vigisushrutha23 commented 4 months ago

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

Robot Name 🤖

ergoCub 1.0 S/N:001

Request/Failure description

During an experiment involving bi-manual manipulation and navigation, we had to restart the robot due to terminator terminal crashing. When restarting the robot left_wrist throws 

 0.020122 <ERROR> from BOARD 10.0.1.31 (left_arm-eb31-j4_6) time=467s 663m 726u :  SYS: the EOtheInfoDispatcher could not accept a eOmn_info_properties_t item inside its transmitting queue. Number of lost items is  2.

Associated log is here

failed_comm_left_arm.txt

cc @mebbaid @SimoneMic

Additional context

No response

How does it affect you?

No response

Detailed context

We tried to restart the whole setup (including the robot labtop ergocub001-lap and the issue persisted. We also tried running yarpmotorgui --calib but then we saw Screenshot from 2024-02-15 20-26-44

MicrosoftTeams-image(6) MicrosoftTeams-image(5)

Additional context

No response

How does it affect you?

This affects https://github.com/ami-iit/lab-events-demos/issues/299

ale-git commented 4 months ago

Hi @vigisushrutha23

Is there an inversion in the connecting rod?

cc @S-Dafarra @GiulioRomualdi

vigisushrutha23 commented 4 months ago

I am not sure exactly what you mean so I can't confidently say it. What I can say is that after we home the robot, the left wrist bends inwards to a great extent when compared to the right. We confirmed that the config files were correct so the wrist calibration seemed off before the fault occurred but worked fine for one experiment.

ale-git commented 4 months ago

Hi @vigisushrutha23, I've added a short explaination in the ErgoCub 0001 channel on Teams. About this particular fault, in my understanding it happened because one timing belt in the left wrist mechanism must be fixed, and thus it shouldn't be used yet because it can't move properly.

lornat75 commented 4 months ago

do we need a specific issue to track the process of fixing the wrist or this ticket is enough?

sgiraz commented 4 months ago

Hi @lornat75,

As of now, ergoCub 1.1 S/N:001 has been fixed by @fbiggi and @AntonioConsilvio. The problem is that a belt tends to come out from the pulley.
Unfortunately this problem cannot be solved without a re-design of some components of the forearm, I guess.

Now the robot is performing the tests in preparation for the EU Parliament Demo successfully. Hence, I would close this issue.

@Fabrizio69

vigisushrutha23 commented 4 months ago

Closing the issue based on @sgiraz 's comment. Will reopen in case we face the issue again.