iCubErzelli02 S/N:036 – Mecanical issues on the left hand

[ddetommaso]

Robot Name 🤖

iCubErzelli02 S/N:036

Request/Failure description

During calibration the left hand get stuck with the fingers closed. Probably there is some issue with the tendons of the thumb

Detailed context

Additional context

https://github.com/robotology/icub-tech-support/assets/3440640/eddfdc39-6c17-4b04-b759-318128576741

How does it affect you?

Medium impact. Data collection with participant should start in 2 weeks.

[github-actions[bot]]

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[sgiraz]

Hi @ddetommaso,

We suppose that it is a wiring issue. Can you provide a log of the yarprobotinterface and a screenshot of the yarpmotorgui after the calibration phase, please?

cc @AntonioConsilvio

[ddetommaso]

Hi @sgiraz, please attached you can find more details about the issue.

log_icub-head_yarprobotinterface_1843.txt

[sgiraz]

Hi @ddetommaso,

[!Warning] To clarify, the video posted above is about iCubErzelli01 S/N:032 (🔵), but as discussed F2F the faulted robot is iCubErzelli02 S/N:036 (⚫).

@AntonioConsilvio and I found one of the pinky's tendons broken. After replacing the tendons with new ones the pinky fingers now open/close correctly.

Unfortunately, the thumb adduction for some reason does not calibrate making the startup calibration longer. A new minor intervention will follow to fix this last point.

cc @AntonioConsilvio @Fabrizio69

[AntonioConsilvio]

Hi @ddetommaso, during this intervention:

• https://github.com/robotology/icub-tech-support/issues/1805

We have also checked the problem mentioned in this issue. All fingers calibrate properly now ! Closing!