iCubGenova02 S/N:001 – joints maintenance

[mbarborinii]

Robot Name 🤖

iCubGenova02 S/N:001

Request/Failure description

Left hand not calibrating properly
Index finger always gets stuck and does not recover a relaxed position
All joints from wrist onward don't move when prompted from yarpmotorgui

Detailed context

Left hand not calibrating properly
Index finger always gets stuck and does not recover a relaxed position
All joints from wrist onward don't move when prompted from yarpmotorgui

Additional context

No response

How does it affect you?

That makes me sad :(

[gaurvigoyal]

We would like to add the "urgent" label to this ticket.
@AntonioConsilvio

PI: @ChiaraBartolozzi
Research line: EDPR

[filippoborgogni]

Update left arm :

we replaced the tendons (middle distal and index proximal), we also restored the connections of the encoders (middle and index distals).

Update right arm :

we had to fix the CAN ID of mc4 boards that were set wrong, and now the robot starts properly.

The last remaining problem is the replace of the ring and pinky tendons, but we are waiting the purchase because we have not spare parts of tendons

Cc: @AntonioConsilvio