[Bug]: Dynamixel 1 (waist motor) error Incorrect status packet

[abadithela]

What happened?

Hi,

We're observing the following error on the waist motor (Dynamixel ID 1) every 3-4 trials.

[ERROR] [1736189997.648767720]: [xs_sdk] Failed syncRead: [TxRxResult] Incorrect status packet!
[ERROR] [1736189997.648851378]: [xs_sdk] Failed getSyncReadData for Present_Current: groupSyncRead getdata failed
[ERROR] [1736189997.648881310]: [xs_sdk] Failed getSyncReadData for Present_Velocity: groupSyncRead getdata failed
[ERROR] [1736189997.648917301]: [xs_sdk] Failed getSyncReadData for Present_Position: groupSyncRead getdata failed
[ERROR] [1736189997.683129979]: [xs_sdk] Failed to read from DYNAMIXEL ID: 1

I've followed the instructions here: https://docs.trossenrobotics.com/interbotix_xsarms_docs/troubleshooting.html#troubleshooting-incorrect-status-packet, and have tried pushing in the cables for all the dynamixels. However, I am not sure which one corresponds to Dynamixel 1 (is it within the base)?

Yet, the error still persists.

Robot Model

wx250s

Operating System

Ubuntu 22.04

ROS Distro

ROS 1 Noetic

Steps To Reproduce

No response

Relevant log output

No response

Additional Info

No response

[abadithela]

I've also tried changing out the USB cable. It was fine for a while, but then started erroring out again:

[ERROR] [1736191827.682029257]: [xs_sdk] Failed syncRead: [TxRxResult] Incorrect status packet!
[ERROR] [1736191827.682118575]: [xs_sdk] Failed getSyncReadData for Present_Current: groupSyncRead getdata failed
[ERROR] [1736191827.682150532]: [xs_sdk] Failed getSyncReadData for Present_Velocity: groupSyncRead getdata failed
[ERROR] [1736191827.682179651]: [xs_sdk] Failed getSyncReadData for Present_Position: groupSyncRead getdata failed

[lukeschmitt-tr]

However, I am not sure which one corresponds to Dynamixel 1 (is it within the base)?

Yes, this is the motor in the base of the robot.

Please connect your robot to the DYNAMIXEL Wizard tool and check the stability of the motor ID 1 connection. If the connection is unstable, you will see CRC errors build up in the lower toolbar.

[abadithela]

How do I check the stability of the connection? I just ran a trial without an issue and I see the following in dynamixel. CRC is not highlighted.

I am running a few more trials now and will follow-up once I see the error again.

[lukeschmitt-tr]

You would see errors appearing in the circled display in the image below:

[abadithela]

Got it! I am seeing the error again, and the Dynamixel wizard is as follows. There does not seem to be a CRC error.

[lukeschmitt-tr]

You said you were seeing this issue for the motor with ID 1, correct? Please select that motor in the Wizard to monitor it.

[abadithela]

Yes, sometimes I see it with Motor ID 1, and sometimes just the incorrect status packet error. When it stated that Motor ID 1 failed, I don't think it showed any CRC errors, but I will double check and post the next time I see it.

[abadithela]

Here is a screenshot of ID1 on Dynamixel after seeing this error again. There is no CRC highlight.