iCubGenova09 (iRonCub3) S/N:000 – Right arm FT sensor is saturated and does not work properly

[gabrielenava]

Robot Name 🤖

iCubGenova09 (iRonCub3) S/N:000

Request/Failure description

While debugging we noted that the right arm FT sensor does not provide the right values despite it starts correctly during startup. Actually, it seems that all forces and moments provided by the FT are constant and saturated to big values.

Detailed context

See e.g. this plot of the FT readings

Additional context

cc @davidegorbani @HosameldinMohamed @DanielePucci

How does it affect you?

No response

[HosameldinMohamed]

This is the same F/T sensor that we replaced on https://github.com/robotology/icub-tech-support/issues/1622.

The sensor was "almost" performing as expected until we found this issue.

Interestingly, this seems to be the same issue of the older F/T sensor that was replaced before.

[HosameldinMohamed]

The sensor was "almost" performing as expected until we found this issue.

By "almost" I meant that not all the components were showing consistent data. Please take a look at the comment https://github.com/ami-iit/element_ft-nonlinear-modeling/issues/90#issuecomment-2120138466 Where I compare the forces and torques measured by the F/T with the expected values that we compute using iDynTree, you can check the plot of the right arm F/T with respect to the left arm one; we usually get different gains and offset values, but the trends are usually similar. However, with the right arm F/T we got the torques in X and Z having almost reversed sign.

[AntonioConsilvio]

Hi @gabrielenava @HosameldinMohamed, we replaced the FT sensor (code: 12487.A3 SN: 095) with a new one code: 12487.A5 SN: 129)!

Please give us feedback on how it works!