iCubErzelli02 S/N:036 – Full overhaul of the robot

[sgiraz]

Robot Name 🤖

iCubErzelli02 S/N:036

Request/Failure description

As per #1570 (comment), we are required to do a full overhaul of the robot before delivering it back to Erzelli.

Note
This activity has been planned and managed internally.

Detailed context

In order to perform the whole overhaul of the robot we have to perform the following tasks:

• Check the following tendons: shoulders, fingers, waist, and forearms
• Check for faulted or locked the motors
• Check for faulted boards
• Check for faulted wires (CAN, ETH, SPI encoders)
• Check for termination on mais boards and wherever they are needed
• Check for broken supports and covers
• Check for loosening and missing screws
• Check for possible shortcircuits (notified shutdowns here and here)

Additional context

Possible imporvements:

• Remove from the configuration files the following (unused) joints:
  • Whole lower body
  • Skin all over the robot

Robot tests + SW updates

• Update robotology-superbuild
• Update FW of all the boards
• Yarprobotinterface starts without errors
• Every single joint is movable correctly both by hand and by Yarpmotorgui
• Face expressions work
• Cameras work

How does it affect you?

No response

[AntonioConsilvio]

This is the PR for the configurations files (the robot is already up to date):

• [iCubErzelli02] New configuration files robots-configuration#565

The robot has been packed and it is ready for shipment:

cc @maggia80 @Fabrizio69 @sgiraz @ddetommaso @andreaderito @Andreamenini68

[sgiraz]

see also: https://github.com/icub-tech-iit/tickets/issues/3084