ergoCub 1.3 S/N:002 – SKIN not working

[giotherobot]

Robot Name 🤖

ergoCub 1.2 S/N:002

Request/Failure description

The hand fingertip skins are not working.

Detailed context

With @S-Dafarra we checked more #1831 and found the following:

1. for the right skin the the mtb4 board is not connected or not detected, we checked using the firmware-updater:
   

2. removing the right skin references in skin.xml we were able to start the yarprobotinterface using that file. But the skins do not seem to be working, trying to connect to /icub/skin/left_hand we have a long list of 200.0 that do not react to touching the fingers at all. Here is the interface log:

log_ergocub-torso_yarprobotinterface_4176_only_left_skin.txt

Additional context

No response

How does it affect you?

No response

[AntonioConsilvio]

Hi! I probably found the cause of the problem. In fact, the 3N2 cable connector (CAN cable that connects MTB4 to EMS) on the EMS side (EB3) had the wrong colour sequence.

The green and white were swapped.

I have fixed the wiring, when the robot upgrades are completed I will proceed with the test.