Closed SimoneMic closed 1 week ago
AntonioConsilvio
commented
3 weeks ago Hi @SimoneMic, the belt of one of the wrist motors broke.
We removed the lowerarm from the robot and we already started with the replacement.
cc @maggia80 @S-Dafarra @fbiggi @fiorisi
AntonioConsilvio
commented
1 week ago Hi @SimoneMic, @fbiggi, @AntonioAzocar and @Gandoo replaced the broken belt successfully. I calibrated the wrist with new values and tested the joints, It works properly now!
Here the PR with the new calibration values:
Thank you everyone for the help! 🚀
cc @S-Dafarra
Robot Name 🤖
ergoCub 1.1 S/N:001
Request/Failure description
In home position both wrists should be in the same position, if not perfectly symmethrical, at least more or less aligned. Instead, the right wrist start slightly bent outwards. When on the yarpmotorgui all the joints references are in the same zero position.
Detailed context
As you can see from the pictures both wrists should be in the same orientation, this means that there could be a wrong encoder reading, or an issue in the zeroing/calibration procedure.
Additional context
No response
How does it affect you?
No response