Dex Wrist not homing (first use)

Ask
1

We got Stretch RE2 with Dex wrist attached. While calibrating the robot, it fails while trying to find wrist yaw.

Summary 
hello-robot@stretch-re2-2003:~/stretch_user/stretch-re2-2003$ stretch_robot_home.py
For use with S T R E T C H (R) RESEARCH EDITION from Hello Robot Inc.
---------------------------------------------------------------------

[WARNING] [stretch_gripper]: DynamixelHelloXL430 Ping failed... stretch_gripper
DynamixelHelloXL430 Ping failed... stretch_gripper
--------- Homing Head ----
--------- Homing Lift ----
Homing Lift...
Hardstop detected at motor position (rad) 115.04425048828125
Marking Lift position to 1.098445 (m)
Marking Lift position to 0.000000 (m)
Lift homing successful
--------- Homing Arm ----
Homing Arm...
Hardstop detected at motor position (rad) 0.12444206327199936
Marking Arm position to 0.000000 (m)
Arm homing successful
[WARNING] [stretch_gripper]: Not able to home stretch_gripper. Hardware not present
[WARNING] [wrist_yaw]: Not able to home wrist_yaw. Hardware not present

We checked the stretch_params.py and found that it contains dex wrist params (and not the original gripper). We also checked all required package updates for dex wrist

We also checked the gripper movements by stretch_dex_wrist_jog.py --yaw|pitch|roll. yaw and pitch executed correctly, but no movement for roll.

We also inspected the wiring and cables around the wrist. They seem to be pulled/stretched somewhat during the homing motion but bear no visible tear.

Updates

We ran stretch_robot_stow.py. It resulted in retracting of the arm but the stretch gripper did not fold in.

Summary 
$ stretch_robot_stow.py 
For use with S T R E T C H (R) RESEARCH EDITION from Hello Robot Inc.
---------------------------------------------------------------------

[WARNING] [stretch_gripper]: DynamixelHelloXL430 Ping failed... stretch_gripper
DynamixelHelloXL430 Ping failed... stretch_gripper
--------- Stowing Arm ----
--------- Stowing ToolStretchDexWrist ----
--------- Stowing Lift ----

We tried to reset Dynamixels

Summary 
For use with S T R E T C H (R) RESEARCH EDITION from Hello Robot Inc.
---------------------------------------------------------------------

---- Rebooting Head ---- 
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to 115200.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to 115200.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
---- Rebooting Wrist ---- 
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to 115200.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to 115200.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to 115200.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
DynamixelCommError. Mismatched baud rate. Expected 57600 but servo is set to -1.
2

Hey @Vidhi_Jain, welcome to the stretch community,
Thank you for including the test summaries you have attached.I think debugging this issue over a support call will be better. I’ve sent you a message through the forum. Thank you!

1 Like