ergoCub 1.0 S/N:000 – Floppy/Un_Stiff/Uncontrolled Left Wrist Preventing Bimanual Manipulation

[vigisushrutha23]

Robot Name 🤖

ergoCub 1.0 S/N:000

Request/Failure description

Last week when we attempted to perform bimanual grasping and manipulation, we observed that the right wrist was controlled and stiff but the left wrist appeared to be uncontrolled and floppy.

https://github.com/robotology/icub-tech-support/assets/5215434/73911bab-7ffb-4329-b089-cdc9d7b05019

Detailed context

When we ( @mebbaid @Woolfrey and myself) attempted to grasp a cardboard with both hands, due to the compliant nature of the left hand, instead of going inwards and pressing into the object, it bends backwards making grasping difficult. We attempted to curl the fingers in and hold the cardboard through the holes made, but any slight manipulation applied to the object caused the object to be dropped even though the references being sent were correct and some what symmetrical in shape to the references sent to the wright wrist. I am attaching examples of failures that prevent use from performing bimanual experiments below.

https://github.com/robotology/icub-tech-support/assets/5215434/a3c5a9f7-bb87-45a0-920a-3164ecf2f145

https://github.com/robotology/icub-tech-support/assets/5215434/bc4bb750-9af4-4cf7-b45d-ace0544800d3

Additional context

No response

How does it affect you?

At the moment this stops us from analysing how much object manipulation can be performed on the real robot with real objects while walking. It also prevents us from further testing the the integration of navigation+manipulation+walking modules. Unless the grasping is made stable, we won't be able to showcase the integration for future demos.