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.