ergoCub 1.1 S/N:001 – Right front foot F/T streams constant values

[GiulioRomualdi]

Robot Name 🤖

ergoCub 1.1 S/N:001

Request/Failure description

This morning we had a demo and we noticed that the robot was not able to walk anymore.

After the demo we log a dataset and we check the values of the FT. Right front foot F/T streams constant values

Detailed context

Here the plot of ft signal while the robot was walking

This is the interface logger logger.txt

Additional context

I asked @G-Cervettini to check the dataset he collected yesterday and we just noticed that in the dataset collected at 19:58 the sensor was still working. The first experiment where the sensor stops working is at 20:06. :sob:

cc @LoreMoretti @G-Cervettini @carloscp3009 @DanielePucci

How does it affect you?

We cannot make the robot walk

[AntonioConsilvio]

Hi @GiulioRomualdi, I would exclude problems with the wiring and CAN communication for two reasons, the first is that the yarprobotinterface starts, and the second is because strain2 is visible from FirmwareUpdater.

Below you can see the values transmitted by the FT channels:

FT.webm

And the the values of the forces, that are always constant and are apparently meaningless:

I think the cause of the problem is the strain2 itself and it needs to be replace.

cc @maggia80 @Fabrizio69

[AntonioConsilvio]

@fbiggi and I replaced the damaged FT sensors (code: 12487.A3 SN: 116) with a new one (code: 12487.A5 SN: 128).

The robot has been tested with @GiulioRomualdi and it works properly now (it can walks now)!

However, since the intervention was quite invasive, I wait a couple of days before closing the issue.

cc @maggia80 @Fabrizio69

[GiulioRomualdi]

Thank you again @AntonioConsilvio and @fbiggi !

[GiulioRomualdi]

Today, we also tried to run a walking experiment with a new walking architecture. We didn't experience any problem related to the FT

[AntonioConsilvio]

Thank you for the feedback!