ergoCub 1.3 S/N:002 – Joints go very quickly into overcurrent

[S-Dafarra]

Robot Name 🤖

ergoCub 1.3 S/N:002

Request/Failure description

After updating the FW to the latest version, we noticed that the joints go suspiciously too fast into overcurrent.

Detailed context

We noticed this while walking. After half a step, both hip rolls went into hardware fault because of overcurrent. Here the log:
log_yarprobotinterface_hf_hip_roll.txt

Interestingly, we also noticed the same behavior immediately after calibration if the hardware limits are a bit too restrictive with respect the value used for calibration.

We noticed the same also on the SN000

Additional context

cc @maggia80 @marcoaccame @valegagge @MSECode @isorrentino

How does it affect you?

No response

[S-Dafarra]

Downgrading the 2foc version to 3.3.36 seemed to fix the issue

[Nicogene]

The changes between 3.3.36 and 3.3.37 are the ones contained in this PR:

• 2FOC current filter implemented. icub-firmware#524

with @ale-git we will check the next week what is the possible cause, we will probably contact you in order to understand what it the problem.

We probably need also a 2024.11.2 once the fix is done (cc @pattacini, @traversaro), sorry for the unconvenience.

[Nicogene]

Hi @S-Dafarra,

the PRs containing the fix have been merged, and the repos have been tagged:

• https://github.com/robotology/icub-firmware-build/releases/tag/v1.41.1
• https://github.com/robotology/icub-firmware/releases/tag/v1.41.1
• 2foc v3.3.38 icub-firmware-build#187
• 2foc.3.3.38: solves the overcurrent problem icub-firmware#551

@ale-git verified that on the robot, once you double-check it we can close this issue.

We will also do a distro 2024.11.2 containing those new tags (cc @traversaro)

cc @maggia80

[S-Dafarra]

@ale-git verified that on the robot, once you double-check it we can close this issue.

Just to understand, in which robot has been tested? Is the firmware already flashed the boards?

[ale-git]

Hi @S-Dafarra, I've tested it on SN 000 legs. After I've restored the .36 firmware, thus the robots have to be updated.