iCubSingapore01: Both hands do not complete properly the calibration

[ddetommaso]

Device name 🤖

iCubSingapore01

Request/Failure description

The calibration of both hands fails.

Detailed context

The calibration sequence is shown in the video attached.

RIGHT ARM: Middle finger seems not reaching the desired position (the motor continues acting)
LEFT ARM: At a certain point the wrist joint stop working

Additional context

singa1.mp4

log_pc104_yarprobotinterface_1771_calibration_2.txt

[Uboldi80]

Hy @ddetommaso

try, with a screw driver to turn in clockwise sense the joint and verify if the tendon is boken.
see below:

[Uboldi80]

for the other arm instead, most likely there is the fault line on the arm which should be revised. Usually when these problems occur it is necessary to review the fault crimp passing through the MC4 mounted on the arm.
see below the schematic of fault connection (the colour of fault wire is white)

You need to check the fault line in the board on the left arm EB24-EB25-EB26

[ddetommaso]

Hi @Uboldi80

many thanks for your feedback!
I put in cc the colleagues in Singapore @tasbolat1 and @Serehal that can access the robot!

[Serehal]

Hi @Uboldi80,

thank you for your help.
As soon as I can enter the lab (we have some restrictions here in Singapore) I will get back to you with more info!

[sgiraz]

Hi @ddetommaso,

We have finally received the robot! We can now proceed with the maintenance activities, stay tuned! 📢

cc @AntonioConsilvio @GiacomoVassallo13

[AntonioConsilvio]

Hi @ddetommaso,

⚙️ Maintenance

We finalized all the activities on iCubSingapore01. Watch the videos below for some tests:

Startup	YogaDemo
yarprobotinterface.mp4	yoga.mp4

Face expressions
Face-Expressions.mp4

---

📦 Shipment

The shipping process should start in early September.

As soon as it is shipped, you will receive the following package:

Full package

ℹ️ Info

We updated the Ubuntu version of the robot head and laptop to the latest LTS versions.
We updated the robotology-superbuild version of the robot head and laptop to the latest versions.

We updated the robots-configuration files with this two PR:

• [iCubSingapore01] Updating Configuration Files robots-configuration#552
• [iCubSingapore01] Fix Gearbox values robots-configuration#556 (latest)

cc @maggia80 @sgiraz @Fabrizio69 @andreaderito

[sgiraz]

Yesterday, the robot was shipped successfully.
I close the issue as all the tasks have been completed.