iCubErzelli02 S/N:036 – Right Hand adduction/abduction problem

[Ep3896]

Robot Name 🤖

iCubErzelli02 S/N:036

Request/Failure description

Following today's intervention, an issue was identified with the right-hand: the adduction/abduction movements are not being executed, as joint 7 remains unresponsive.

Detailed context

cc @ddetommaso

Additional context

log_icub-node_yarprobotinterface_2015.txt

https://github.com/user-attachments/assets/fed678d4-2958-48f4-8c2f-bfc0d08d2117

How does it affect you?

This problem is of high priority, though not critical; however, it must be resolved to proceed with the experiments.

[AntonioConsilvio]

Hi @Ep3896 @ddetommaso! The finger adduction tendon is probably broken. Replacing that tendon takes a few days between electronics, mechanics and testing.

Also to work better we should have the lowerarm detached from the robot.

So let us know when the robot is not going to be used and it can stay without the right lowerarm for a few days, so we can bring it to our lab and put it back on the robot when we finished.

[ddetommaso]

Hi @AntonioConsilvio ,

thank you for your quick feedback. We agreed internally that from next Tue we can stay without the robot during the maintenance period (possibly not more than one week). Please let me know if this plan fits with your timeline.

Thank you

[AntonioConsilvio]

Hi @ddetommaso, so we will take the lowerarm tomorrow!

[ddetommaso]

Hi @AntonioConsilvio,

can you please update us about the status of the maintenance? When u think would you guys be available to replace the arm?

Thank you

cc @Ep3896

[AntonioConsilvio]

HI @ddetommaso, we are in the testing phase, you will receive updates soon!

[filippoborgogni]

Hi @ddetommaso , the maintenance work is finished; tomorrow @edersonferrante and I will come to reassemble the arm on the robot! If possible it could be very helpful align Robots-Configuration to this commit. Thanks!

[ddetommaso]

Hi @filippoborgogni

it sounds good! Please proceed with aligning the local configuration to the recent commits on this robot. I would ask @Ep3896 to coordinate with you guys to have a general check on the robot once the intervention is terminated.

Thank you

[AntonioConsilvio]

Hi @ddetommaso! We just wanted to know if it would be possible for you to align the configuration files already today, so tomorrow's intervention could be quicker and would only concern the hardware side, leaving you to manage the software.

However, if it's not possible to do it today, we'll do it tomorrow during the intervention.

Let us know and thank you!

[ddetommaso]

Hi @AntonioConsilvio

unfortunately we didn't have time to align the configuration on the robot today. I would please ask you guys to do it tomorrow. Thank you

cc @Ep3896

[filippoborgogni]

Hi @ddetommaso @Ep3896 ,

yesterday we came to reassemble the arm on the robot; during the test phase we encountered some problems:

• the tendon of the ring and pinky broke and we fixed it;
• we re-soldered some hall sensor cables also from the ring and pinky.

Following these further interventions, we verified that the robot works correctly (as can be seen in the video below).

https://github.com/user-attachments/assets/48c8d0ed-28cb-4912-aed9-678edf20599e

Here the video of the fingers abduction.

https://github.com/user-attachments/assets/5404169c-6939-4189-8ffe-797cdacae286

We also had to change again the calibration value of the right-arm pinky contained in the file calibrators/right_arm-calib.xml, which you have to align Robots-Configuration to the robot head (PR link here).

We wait the confirm that the Robots-Configuration is aligned to close this issue.

Unfortunately we saw that after this intervention finished and we came back in CRIS a new issue has been open:

• https://github.com/robotology/icub-tech-support/issues/2117

In case of other problems feel free to open new issues.

cc @AntonioConsilvio

[Ep3896]

Hi @filippoborgogni @AntonioConsilvio,

Following today’s successful intervention regarding issue #2117, we have identified a problem with the right hand of the robot's right arm. Specifically, the right finger remains bent at the end of the calibration process and does not align with the right pinky, which is most likely related to this opened issue.

Additionally, as Filippo correctly pointed out in a previous comment, it is necessary to align the robot’s configuration with the robot's head.

If you have any questions or concerns, please do not hesitate to contact me.

[Fabrizio69]

Hi @Ep3896, as @filippoborgogni pointed out in the previous comment, you have to align the robot configuration to the approved PR and close this issue about the right hand adduction.

For the problem encountered today: a finger remains bent, you need to open a new issue. Thanks

cc: @AntonioConsilvio