After performing a complete shutdown and running some more tests, I started getting the “Pull Status IOError on /dev/hello-dynamixel-wrist” error when running Xbox teleop, which led me to this previous forum post on the topic. One of the servo cable connectors had indeed been completely unseated. I’ll give another update once I get a chance to do some more investigating on what might have caused this (I only recently started working with the robot) and on whether reconnecting the cable fully resolved the problem. Sorry for the trouble!