ergoCub 1.0 S/N:000 – Wrong right leg home position after calibration

[SimoneMic]

Robot Name 🤖

ergoCub 1.0 S/N:000

Request/Failure description

When homing the right leg from the yarp motor GUI the leg its held upfront, instead of its original position (see photo below)

No errors shown during the calibration, nor afterwards.

Detailed context

I have tried launching different yarp robot interfaces, both ergocub_wbd.xml and ergocub_wbd_ros2.xml from the robot torso. The result is the same.
I am using the robots_configuration branch ami_20iit and I haven't modified any files, though there are many uncommitted and changed files.
I suspect that the right hip pitch is not homed properly, or the home configuration is not correct. Probably is a configuration file issue.
Also, while using the WalkingModule and preparing the robot, it gets in a wrong configuration:

Additional context

No response

How does it affect you?

I can't walk and navigate with the robot in this state

[S-Dafarra]

Hi @SimoneMic what do the hip pitch encoders measure in this position?

[SimoneMic]

Hi @S-Dafarra the r_hip_pitch reads 11.518

[GiulioRomualdi]

As far as I know, we didn't change the positions. However, yesterday I noticed that the calibrators on the legs changed but since I didn't know who changed it I left it there. So probably this is the issue. Notice that the robot went under maintenance for #1675 so I don't know if this is related

[AntonioConsilvio]

Hi @SimoneMic, the AMO has been replaced in this issue, but it was not calibrated.

Me and @AntonioAzocar calibrated the AMO and tested the robot.
It works properly now!

cc @sgiraz