R1 S/N:003 – Errors with R1 hands (ergomorphing)

[fbrand-new]

Robot Name 🤖

R1 S/N:003

Request/Failure description

I just turned on the robot with the new hands calibrated by @MSECode and I have these errors:

I do not know if it is safe to proceed further, or if I should turn off the roboto

@AntonioConsilvio @Fabrizio69 @MSECode

Detailed context

See above

Additional context

No response

How does it affect you?

No response

[MSECode]

Hi,
can u send me the configuration file of the calibrator and the one of the motion control, that I'll double check the calibration parameters and the PID values.
Thanks

[github-actions]

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[fbrand-new]

Update with the log files of the yri from inside and outside the docker on the base
log.txt
log_no_docker.txt

[mfussi66]

The OP issue regarding i2t limit seems a side-effect of the calibration procedure being unable to read the FAP data. The sensors read just fine and we can see it in the port /cer/left_hand/POS<2 or 4>:o if the service is enabled in the yarprobotinterface config file.

[maggia80]

• embobjPOS was not enabled in CCMake in the r1-base
• POS services were not enabled in the yarprobotinterface.ini file

we still have issues in the right hand:

[mfussi66]

In order to run the calibration procedure correctly, as I talked with @MSECode , the POS service needs to be active before the calibrator. If the opposite happens, the operation fails.

In ergoCubSN002 the POS service starts right at the beginning of the yarprobotinterface file:

https://github.com/robotology/robots-configuration/blob/master/ergoCubSN002/ergocub.xml#L12-L22 .

Instead, in R1SN003 it starts later:

https://github.com/robotology/robots-configuration/blob/master/R1SN003/R1.xml#L36-L46

and therefore the time between the POS and the calibrator is not sufficient.

I'm not entirely sure how the yarprobotinterface works, but I'm afraid there is some kind of race condition in this scenario.

[MSECode]

In order to run the calibration procedure correctly, as I talked with @MSECode , the POS service needs to be active before the calibrator. If the opposite happens, the operation fails.

In ergoCubSN002 the POS service starts right at the beginning of the yarprobotinterface file:

https://github.com/robotology/robots-configuration/blob/master/ergoCubSN002/ergocub.xml#L12-L22 .

Instead, in R1SN003 it starts later:

https://github.com/robotology/robots-configuration/blob/master/R1SN003/R1.xml#L36-L46

and therefore the time between the POS and the calibrator is not sufficient.

I'm not entirely sure how the yarprobotinterface works, but I'm afraid there is some kind of race condition in this scenario.

Exactly, or at least that is what I've always seen on ergoCub and iCub robots, with the POS service running first. Thus, that can be said to be the standard use case. I'm not sure, anyways, if that is mandatory for having the whole system running correctly but what @mfussi66 said is totally correct.