iCubGenova09 (iRonCub3) S/N:000 – Right ankle roll does not calibrate properly

[gabrielenava]

Robot Name 🤖

iCubGenova09 (iRonCub3) S/N:000

Request/Failure description

the right ankle roll does not calibrate. Instead, the joint starts to oscillate until it goes in idle. The issue seems very similar to #1834, which in the end was related to the optical disk of the encoder being dirty.

Detailed context

cc @DanielePucci @Fabrizio69

there were also errors in the yarprobotinterface, but we were forced to run it from terminal in view of #1991 and the terminal was mistakenly closed. I'll add more info tomorrow when we will start again the robot.

Additional context

No response

How does it affect you?

No response

[gabrielenava]

here a video of the failure:

MicrosoftTeams-video.mp4

[gabrielenava]

following the indications of @AntonioConsilvio I have used a cotton buds and isopropyl alcohol to clean the encoder of the right ankle roll. That was indeed the problem: now the joint calibrates and the robot is able to complete the startup phase with no errors. We can close this issue!