iCubErzelli02 S/N:036 – Maintance before shipping to Barcelona

[gioelemigno]

Robot Name 🤖

iCubErzelli02 S/N:036

Request/Failure description

If possible, in the week of 22 September, we would please need assistance for:

1. Perform maintance before shipping the robot to Barcelona for experimental activities
2. Pack the robot to be ready for shipment

Detailed context

At the end of September, the robot will be shipped to Barcelona where it will be used for experimental activities for about 6 weeks. Before shipment, we would like to perform maintance to the robot with the aim of send it in the best possible conditions to reduce at minimum the risk of failure during the period it will be used in Barcelona.

Once performed maintaince, if possible, we would need assistance also to pack the robot to be ready for shipment. The robot will travel in the wood box.

For maintance we refer to:

1. Right thumb calibration issue: iCubErzelli02 S/N:036 – Right hand thumb position error #2131
2. Investigate if the following error that occurs sometimes at the start and causes the calibration to fail could possible became permanent and problematic:

 28.302314 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.322555 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.332678 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.342795 <ERROR> @ line  412
 28.352911 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.494596 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.514832 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.514958 <ERROR> @ line  417
 28.515020 <ERROR> FAILED writing  PAGE_ID
 28.524956 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.545191 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.565427 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.575545 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.575671 <ERROR> @ line  412
 28.595786 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.605901 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.626148 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.626276 <ERROR> @ line  417
 28.626338 <ERROR> FAILED writing  PAGE_ID
 28.636264 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.656512 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.676747 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.686863 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.686989 <ERROR> @ line  412
 28.707103 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.717225 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.737473 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.737599 <ERROR> @ line  417
 28.737660 <ERROR> FAILED writing  PAGE_ID
 28.747595 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.757710 <ERROR> Inertial sensor didn't understand the command. 
                    If this error happens more than once in a row, please check serial communication is working fine and it isn't affected by electrical disturbance.
 28.788024 <ERROR> FAILED writing  PAGE_ID
 28.788134 <ERROR> Set page id 0 failed
 28.788196 <ERROR> A thread failed to start with error code: 0
 28.788251 <ERROR> Driver <imuBosch_BNO055> was found but could not open

From: log_icub-head_yarprobotinterface_2004.txt

3. Solve the following error that occurs during calibration:

 65.297915 <ERROR> from BOARD 10.0.1.3 (right_arm-eb3-j0_3) time=191s 843m 668u :  MC: 2FOC quadrature encoder dirty. The number of thicks in a complete revolution of the motor was lower than expected, the optical disks need to be cleaned. (Joint=r_elbow (NIB=3), index=0, dirty=0, phase=5483)

From: log_icub-head_yarprobotinterface_2095.txt

Thank you

cc @ddetommaso @AgnieszkaWykowska

Additional context

Log files acquired yesterday, the robot performed correctly the calibration at the fourth attempt:
log_icub-head_yarprobotinterface_1805.txt

log_icub-head_yarprobotinterface_1922.txt

log_icub-head_yarprobotinterface_2004.txt

log_icub-head_yarprobotinterface_2095.txt

How does it affect you?

No response

[gioelemigno]

Yesterday during testing the experiment that will run on the robot in Barcelona we noticed an issue with the neck, namely it slips while moving to the right.

This issue does not allow us to run the experiment so it is a critical problem.

This is the same issue we encountered some months ago with our other iCub (#2121) and we solved together with @AntonioConsilvio and @edersonferrante. The solution is described in #2121 (comment) and essentially is related to how tight the screw is on the mechanical assembly of the neck.

In #2121 (comment), we asked if it was possible to have a new part with the exact factory tightening, if the part is available and it is compatible, maybe we could use it to solve this problem in a fast and clean way, of course please tell us the best strategy accordingly to your experience and knowledge.

Please let us know as soon as possible a tentative date for the intervention so we can plan the shipment to Barcelona.

Thank you so much

cc @Fabrizio69 @ddetommaso

[AntonioConsilvio]

Hello,
We have analysed the current situation of the robot and wanted to share our findings.

We will provide technical support next week, we will try to ship the robot in the best possible condition. However, we are waiting for one of the technicians who is supposed to come to Erzelli to return from holiday before we can decide the day. We will update you as soon as possible regarding the day.

Regarding the part for which you requested a new piece, we are not currently planning to manufacture that part, but we do have some spares.

However, the part in question is not a simple component, but an entire joint, and we wanted to point out that replacing the joint requires the same steps as repairing it (electronic wiring of the head, mechanical disassembly of the head from the neck, disassembly of the joint from the neck), plus an additional step, namely recalibration of the replaced joint.

Therefore, if you still think it would be useful to have an extra spare joint, we can supply one. From a technical point of view, however, replacing the joint would still be a last option compared to repair.

It might make more sense for us to equip ourselves with that joint when we come to Erzelli, so that in the unfortunate event that repair is not possible, we can proceed with replacement.

This is also because our technical support will probably be needed in the event of replacement.

However, please let us know what you think too!

[gioelemigno]

Hi Antonio, thank you so much guys for providing us support.

Yes, I completely agree with you, the best solution is that you equip yourself with a spare part in the best condition and then during the intervention you will decide if replace it or not accordingly to your experience.

Thank you again guys!

[AntonioConsilvio]

HI @gioelemigno, We're available to provide support on Wednesday, September 24th.
Is that a good day for you?

[gioelemigno]

Hi @AntonioConsilvio, yes, Wednesday September 24th is perfect. Thank you!

[AntonioConsilvio]

Hello! Yesterday, @edersonferrante and I came to Erzelli and fixed the neck problem mentioned in this issue.
The main problem was caused by this loose screw inside the neck yaw joint:

we removed it, cleaned the hole and screw, and then reinserted the screw with some Loctite so that it would not come loose again.

After that, a problem arose on the right arm. The Mais board was not responding to the CAN messages from the MC4-plus Eb28 and Eb29.

We crimped the cable and it started working again, but then I noticed that one of the pinky's magnetic sensor cables had become disconnected:

So we soldered it back on.

Then, we recalibrated the thumb oppose to resolve this issue:

• iCubErzelli02 S/N:036 – Right hand thumb position error #2131

We cleaned the optical discs of both the right and left elbow joints.

We made sure that the robot was able to perform the demo successfully, and then we packed the robot and put it in the case ready for the trip to Barcelona ✈️.

P.S.

Unfortunately, there is no solution to the inertial sensor problem mentioned in this issue, in the sense that the type of IMU mounted on this robot may sometimes not respond to the yarprobotinterface.

Generally, it is sufficient to try restarting the yarprobotinterface and it should start.

Closing! ✅