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Re-enabled the check of the hw fault before proceeding with calibration #906

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Sep 9, 2023
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Re-enabled the check of the hw fault before proceeding with calibration #906

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11 changes: 3 additions & 8 deletions src/libraries/icubmod/parametricCalibratorEth/parametricCalibratorEth.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -578,14 +578,9 @@ bool parametricCalibratorEth::calibrate()
}

//before starting the calibration, checks for joints in hardware fault, and clears them if the user set the clearHwFaultBeforeCalibration option
// if(!checkHwFault())
// return false;
checkHwFault(); //TODO: reset the commented part --> TEMPORARY FIX necessary in order to avoid hw limit exceeded at YRI restart. Now error is almost inevitable w/ MAIS sensors because of error in position reading
// as things now, even if the calibration seems fine for finger at restart the MAIS loose the set calibration on some fingers
// the problem is that at every restrat the error could verify for a different joint and this things is almost aleatory and not repetable
// Therefore, while we are working for releasing the hard fix, which will set the joint in NOT_CONFIGURED at restart of YRI, it is needed to DO NOT return even if a hw fault is found at restart
// so that the joint can recalibrate at restart

if(!checkHwFault())
return false;

if (totJointsToCalibrate < n_joints)
{
yWarning() << deviceName << " is calibrating only a subset of the robot part. Calibrating " << totJointsToCalibrate << " over a total of " << n_joints;
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