ergoCub 1.0 S/N:000 – Robot joints are miscalibrated

[isorrentino]

Robot Name 🤖

ergoCub 1.0 S/N:000

Request/Failure description

We experienced the same with ergoCubSN001 #1946.

I do not attach photos, but the same problem is explained in the other issue.

For now, I manually aligned the joints and changed deltas in robots-configuration, but this is not the solution as the robot is still miscalibrated.

Detailed context

We should understand why movements with high accelerations cause this, and maybe it is worth having a way to re-calibrate the joints easily or quickly.

cc @DanielePucci @S-Dafarra @mebbaid

Additional context

No response

How does it affect you?

No response

[S-Dafarra]

One thing we noticed is that the distance between the feet was not 48.8mm as it should be. But probably this was a problem already present before.

[isorrentino]

One thing we noticed is that the distance between the feet was not 48.8mm as it should be. But probably this was a problem already present before.

Yes, it was already present.