iCubErzelli02 S/N:036 – Right hand swinging thumb

[ddetommaso]

Robot Name 🤖

iCubErzelli02 S/N:036

Request/Failure description

The thumb distal of the right hand swings whenever the value of the joint reaches a specific value (around 90°).

Detailed context

Following the fix #1874 the issue has arisen on the thumb distal of the right hand.

Additional context

icuberzelli02.mp4

How does it affect you?

We are in process of implementing an important demo and both hands are needed fully working. We would need the the fix as soon as possible.

[github-actions]

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Hi @ddetommaso 👋🏻

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[AntonioConsilvio]

Hi @ddetommaso! The problem was that the magnet reading was not linear. To get the joint to work properly, we tried rotating the magnet to find a configuration where the reading was linear and the finger did not oscillate.

I think I found it because after a few tests the finger stopped oscillating.

VID_20240904_140713.mp4

Here is the PR for the new calibration:

• [iCubErzelli01 and 02] New head yaw and thumb distal calibrations robots-configuration#676