ergoCub 1.2 S/N:002 – Left ankle roll Hardware limit pin detached from the mechanical structure

[GiulioRomualdi]

Robot Name 🤖

ergoCub 1.2 S/N:002

Request/Failure description

Today @S-Dafarra tried the walking controller and noticed that the robot was not able to walk anymore. After some tests we noticed that the problem was related to the left ankle roll pin (the one used for the calibration that was detached)

Detailed context

Here is the picture of the PIN

Additional context

@AntonioConsilvio glued the pin. We recalibrated the robot and we tested the walking. Everything was working as expected (PR to be opened)

diff --git a/ergoCubSN002/calibrators/left_leg-calib.xml b/ergoCubSN002/calibrators/left_leg-calib.xml
index 9433981ff..e7a78ceeb 100644
--- a/ergoCubSN002/calibrators/left_leg-calib.xml
+++ b/ergoCubSN002/calibrators/left_leg-calib.xml
@@ -20,7 +20,7 @@
     <param name="calibration3">                       0.0            0.0          0             0          0       0        </param> 
     <param name="calibration4">                       0.0            0.0          0             0          0       0        </param>
     <param name="calibration5">                       0.0            0.0          0             0          0       0        </param>
-    <param name="calibrationZero">                    109.27         110.848      81.65         6.38       -46.624 25.808   </param>
+    <param name="calibrationZero">                    109.27         110.848      81.65         6.38       -46.624 27.187   </param>
     <param name="calibrationDelta">                   0              0            0             0          0       0        </param>
     <param name="startupPosition">                    90             80           0             -95        0       0        </param>
     <param name="startupVelocity">                    10.0           10.0         10.0          10         10      10       </param>

How does it affect you?

No response

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[AntonioConsilvio]

Hi! the hole where the hardware limit is mounted has become ovalised and therefore the hardware limit is no longer stationary.

We are now re-working the part so that we can fix the hardware limit so that it works properly again.

[AntonioConsilvio]

Hi! @fbiggi replaced the hardware limit with a longer one and reworked the part so that it would fit.

Now together with @GiulioRomualdi we have recalibrated the joint and tested the robot, which seems to work properly! 🚀

However, the part where the hole for the hardware limit is located will have to be replaced as soon as we get the new part, so the issue will remain open.