Actuators randomly stop holding their positions

[stephane-caron]

Symptom: while running, actuators randomly error out. We observe this is in spine logs as their observed mode switches to 11, which is the timeout mode.

Further diagnostic:

Run sudo upkie_tool stats four times in a row.

• If every run returns all six actuators (with IDs from 1 to 6): it is unlikely you have this issue.
• If every run returns a subset of actuators (e.g. 1, 2, 3, 4 but not 5, 6): you likely have this issue.

[stephane-caron]

This issue likely stems from a missing or broken terminator at the ankles of the robot. Upkie's comms cables are quite long, which is why we need terminators.

Prescription: check and replace terminators at both ankles.