iCubGenova09 (iRonCub3) S/N:000 – Left and Right Hip Yaw Joints do not calibrate

[FabioBergonti]

Robot Name 🤖

iCubGenova09 (iRonCub3) S/N:000

Request/Failure description

We ran the yarprobotinterface multiple times, and every time, the hip yaws did not calibrate.
We temporarily fixed it by calibrating the joints with the yarpmotorgui.

Detailed context

Here is the log

log_icub-head_yarprobotinterface[robotinterface]_76900.txt

It is full of these errors, not sure if it's related

 5678,469567 <ERROR> from BOARD 10.0.1.11 (right_leg-eb11-j0_2) time=344s 684m 102u :  SYS: EOtheCANservice could not tx frames on CAN bus. CanPort=CAN2. Size of fifo is 0
 5678,479504 <WARNING> from BOARD 10.0.1.11 (right_leg-eb11-j0_2) time=344s 684m 222u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 505[usec]. Latest previous execution times[usec] (..., Tx=507);(RX=504, DO=218, TX=507);
 5678,479525 <WARNING> from BOARD 10.0.1.11 (right_leg-eb11-j0_2) time=344s 684m 342u :  SYS: the TX phase of the control loop has last more than wanted. TX execution time 507[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=507); (Rx=505, DO=219, ...). Num of CAN frames[CAN1,CAN2]=[1 5]
 5678,479533 <WARNING> from BOARD 10.0.1.7 (left_leg-eb7-j0_2) time=344s 672m 335u :  SYS: the TX phase of the control loop has last more than wanted. TX execution time 436[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=437); (Rx=434, DO=147, ...). Num of CAN frames[CAN1,CAN2]=[1 5]
 5678,479540 <ERROR> from BOARD 10.0.1.7 (left_leg-eb7-j0_2) time=344s 675m 102u :  SYS: EOtheCANservice could not tx frames on CAN bus. CanPort=CAN2. Size of fifo is 0
 5678,479546 <WARNING> from BOARD 10.0.1.7 (left_leg-eb7-j0_2) time=344s 675m 222u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 433[usec]. Latest previous execution times[usec] (..., Tx=437);(RX=434, DO=147, TX=436);
 5678,479555 <ERROR> from BOARD 10.0.1.11 (right_leg-eb11-j0_2) time=344s 687m 102u :  SYS: EOtheCANservice could not tx frames on CAN bus. CanPort=CAN2. Size of fifo is 0
 5678,479567 <WARNING> from BOARD 10.0.1.11 (right_leg-eb11-j0_2) time=344s 687m 222u :  SYS: the RX phase of the control loop has last more than wanted. RX execution time 504[usec]. Latest previous execution times[usec] (..., Tx=507);(RX=505, DO=219, TX=507);
 5678,479581 <WARNING> from BOARD 10.0.1.11 (right_leg-eb11-j0_2) time=344s 687m 342u :  SYS: the TX phase of the control loop has last more than wanted. TX execution time 507[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=507); (Rx=504, DO=218, ...). Num of CAN frames[CAN1,CAN2]=[1 5]
 5678,479593 <WARNING> from BOARD 10.0.1.7 (left_leg-eb7-j0_2) time=344s 675m 336u :  SYS: the TX phase of the control loop has last more than wanted. TX execution time 437[usec]. Latest previous execution times[usec] (RX=N/A, DO=N/A, TX=436); (Rx=433, DO=147, ...). Num of CAN frames[CAN1,CAN2]=[1 5]
 5678,479599 <ERROR> from BOARD 10.0.1.7 (left_leg-eb7-j0_2) time=344s 678m 102u :  SYS: EOtheCANservice could not tx frames on CAN bus. CanPort=CAN2. Size of fifo is 0

Additional context

No response

How does it affect you?

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[gabrielenava]

a similar problem occurred in #1900 and has been fixed by replacing a cable. now it is a while that this specific issue related to yaw joints does not occur.

I would close the issue, and if we note that the problem occurs we'll open a new one