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ergoCub 1.1 S/N:002 – Trying to add the SKINS to the ergocub_wbd.xml makes the calibration fail. #1831

Open giotherobot opened 1 week ago

giotherobot commented 1 week ago

Robot Name 🤖

ergoCub 1.1 S/N:002

Request/Failure description

I was trying to enable the skins (fingertips) in the configurations file, with the idea of using them in conjunction with AMI teleoperation.

I noticed that when setting the skins up the right elbow fails the calibration procedure.

Moreover even the left fingers do not seem to work, connecting to the port with yarp read ... /ergoCubSN001/skin/left_hand streams the vecotr of fingertips values but all of them are 200.0 and do not change even when I touch the fingers.

Detailed context

Both using the SN001 and the SN002 when adding the skins to the ergocub_wbd.xml file:

    <!--  SKINS -->

    <xi:include href="wrappers/skin/right_arm-skin_wrapper.xml" />
    <xi:include href="hardware/skin/right_arm-eb3-j2_3-skin.xml" />
    <xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
    <xi:include href="hardware/skin/left_arm-eb4-j2_3-skin.xml" />

With this the calibration of the robot fails due to the right elbow not moving. This needs a motor restart to fix, not just reverting the change on the configuration files.

Then I tried to add only the left skins

    <!--  SKINS -->

    <xi:include href="wrappers/skin/left_arm-skin_wrapper.xml" />
    <xi:include href="hardware/skin/left_arm-eb4-j2_3-skin.xml" />

Using this the calibration completes, and the roght elbow is fine.

Adding only the right skins results in the elbow problem.

In any case the skins do not appear to work, I connected with yarp read ... /ergoCubSN002/skin/left_arm and the output is constant also when trying to touch the fingers.

Additional context

We should also try to add the robotName parameter to https://github.com/robotology/robots-configuration/blob/d3648b22897065f9297845ee180b5f4c9f935133/ergoCubSN001/wrappers/skin/left_arm-skin_wrapper.xml#L6-L8 to present the usual ergocub prefix instead of the full ergoCubSN00x name.

How does it affect you?

No response