ergoCub 1.3 S/N:002 – Robot doesn't start due to left wrist hardware fault

[vigisushrutha23]

Robot Name 🤖

ergoCub 1.3 S/N:002

Request/Failure description

When using the command YARP_FORWARD_LOG_ENABLE=1 yarprobotinterface --config ergocub.xml --enable_tags "(enable_ros2)" , the robot fails to start as there is an hardware fault on the left wrist.

Detailed context

Upon running motorgui during startup we see the hardware fault on the left wrist showing error in the encoders.

After a few restarts we started getting the following error as can be seen in the log. log_ergocub-torso_yarprobotinterface_3115.txt

Additional context

No response

How does it affect you?

We are unable to perform experiments for an upcoming deadline.

[vigisushrutha23]

Here is another log taken after another restart reproducing the HW fault on the left wrist. log_ergocub-torso_yarprobotinterface_1866.txt

[vigisushrutha23]

Following @AntonioConsilvio 's advice, we checked if the left wrist connectors were disconnected. With @mebbaid we made the connectionand the robot was able to start up. But one motion of the hands caused disconnection once again, as seen in the picture below.

After few tries and pushing the cable behind the parallel mechanism of the wrist to prevent it from disconnecting, we succeeded and we were able to run experiments. I shall leave the issue open for further verification and solidifying the connection.

[AntonioConsilvio]

Hi! I putted glue on the connector to avoid this from detached again. Closing! ✅