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robotology / icub-tech-support

Virtual repository that provides support requests for individual robots
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ergoCub 1.1 S/N:002 – Initial calibration not reliable #1802

Open S-Dafarra opened 1 month ago

S-Dafarra commented 1 month ago

Robot Name 🤖

ergoCub 1.1 S/N:002

Request/Failure description

While using the robot, I noticed that the initial calibration is often not successful, with some joints getting stuck at their limits. In particular, it seems that the robot is able to calibrate the right ankle pitch only once every three times (approximately), but we also experienced issues on the right knee and on the left elbow.

Detailed context

Here a log of an unsuccessful calibration of the right ankle pitch

failed_to_calibrate_right_ankle.txt

I noticed that there are some host transceiver errors at startup.

Additional context

Once I also noticed that the right knee was not controllable anymore, neither from motorgui, and I had to reboot the robot. In the terminal I had a ton of host transceiver issues similar to the one mentioned above.

How does it affect you?

Nw it takes several attempts (and hence a lot of time) to have the robot running correctly.

S-Dafarra commented 1 month ago

Another thing I noticed is that the robot seems to take more time to perform the calibration. By any chance, has something changed at firmware level?

S-Dafarra commented 1 month ago

cc @GiulioRomualdi @CarlottaSartore @LoreMoretti @steb6 @andrearosasco