Issues with stretch_new_robot_install.sh when upgrading Stretch

Hello all!

We are currently attempting to upgrade our Stretch RE1 OS to 20.04, and we are following the instruction here: stretch_install/robot_install.md at master · hello-robot/stretch_install · GitHub

However, when we ran stretch_new_robot_install.sh, the installation script failed at stretch_create_catkin_workspace.sh where it called the update_description.py to update meshes.

The error is the following:

update_description.py ERROR: cp: cannot stat ‘/home/hello-robot/catkin_ws/src/stretch_ros/stretch_description/batch/louis/meshes/*.STL’: No such file or directory

Copying in Mesh files and URDF files from batch:louis
cp /home/hello-robot/catkin_ws/src/stretch_ros/stretch_description/batch/louis/meshes/*.STL /home/hello-robot/catkin_ws/src/stretch_ros/stretch_description/meshes

We noticed that in the yaml file, the batch name for our Stretch is Louis, which was not any of the batches in the repo. We are not sure how we could resolve this issue?

We really appreciate your help! Thank you!

Hello Yuki, welcome to the forum. Yes, it seems that the meshes are missing for the Louis batch. We’ve updated stretch_ros to include these. You should be able to do:

cd  ~/catkin_ws/src/stretch_ros
git pull

And see the new mesh files. You might be able to just run stretch_create_catkin_workspace.sh to fix your installation. Failing that a fresh install should now work.

Hello!

Thank you so much for your help so far! That fixed the previous issue, but currently our Stretch runs into another issue where it would not lift or extend the arm when we run stretch_robot_home.py

We have tried to fresh install multiple times before we reinstalled ubuntu 20.04 and did the fresh install again. All the firmware are at the most recent version according to REx_firmware_updater.py --recommended.

Below is the error outputted in the terminal. The complete log will be in a separate reply due to word limit. It seems like stretch thinks that guarded contact for the lift and the arm are triggered for some reason even though there is nothing blocking them.

We really appreciate your help! Thank you so much!

Best,
Yuki Wang

terminal output:

--------- Homing Head ----
--------- Homing Lift ----
Homing Lift…
Hardstop detected at motor position (rad) 115.19173431396484
Marking Lift position to 1.100000 (m)
Marking Lift position to 0.000000 (m)
[INFO] [robot_monitor]: Guarded contact lift
[INFO] [robot_monitor]: Guarded contact lift
Lift homing successful
--------- Homing Arm ----
Homing Arm…
Hardstop detected at motor position (rad) 0.0
Marking Arm position to 0.000000 (m)
[INFO] [robot_monitor]: Guarded contact arm
[INFO] [robot_monitor]: Guarded contact arm
[WARNING] [arm]: Arm failed to reach final position
--------- Homing stretch_gripper ----
Moving to first hardstop…
First hardstop contact at position (ticks): -1

Homing offset was 764
Marking current position to zero ticks
Homing offset is now 764 (ticks)

Current position (ticks): 26
Moving to calibrated zero: (rad)
--------- Homing wrist_yaw ----
Moving to first hardstop…
First hardstop contact at position (ticks): -5

Homing offset was 1455
Marking current position to zero ticks
Homing offset is now 1456 (ticks)

Current position (ticks): 39
Moving to calibrated zero: (rad)

Here’s the log. The last part about shutting down has been omitted due to word limit. Thank you so much!

Log

[DEBUG ] [09/14/2022 19:21:54.938] [pimu]: Starting TransportConnection on: /dev/hello-pimu
[DEBUG ] [09/14/2022 19:21:54.939] [hello-motor-left-wheel]: Starting TransportConnection on: /dev/hello-motor-left-wheel
[DEBUG ] [09/14/2022 19:21:54.940] [hello-motor-right-wheel]: Starting TransportConnection on: /dev/hello-motor-right-wheel
[DEBUG ] [09/14/2022 19:21:54.941] [hello-motor-lift]: Starting TransportConnection on: /dev/hello-motor-lift
[DEBUG ] [09/14/2022 19:21:54.944] [hello-motor-arm]: Starting TransportConnection on: /dev/hello-motor-arm
[DEBUG ] [09/14/2022 19:21:54.954] [wacc]: Starting TransportConnection on: /dev/hello-wacc
[DEBUG ] [09/14/2022 19:21:54.967] [robot]: Starting up Robot stretch-re1-1089 of batch Louis
[DEBUG ] [09/14/2022 19:21:55.067] [head_pan]: [Dynamixel ID:011] ping Succeeded. Dynamixel model number : 1080. Baud 115200
[DEBUG ] [09/14/2022 19:21:55.123] [head_tilt]: [Dynamixel ID:012] ping Succeeded. Dynamixel model number : 1060. Baud 115200
[DEBUG ] [09/14/2022 19:21:55.212] [stretch_gripper]: [Dynamixel ID:014] ping Succeeded. Dynamixel model number : 1060. Baud 115200
[DEBUG ] [09/14/2022 19:21:55.268] [wrist_yaw]: [Dynamixel ID:013] ping Succeeded. Dynamixel model number : 1080. Baud 115200
[DEBUG ] [09/14/2022 19:21:55.384] [base]: Fast motion turned off
[DEBUG ] [09/14/2022 19:21:55.587] [NonDXLStatusThread]: Missed target loop rate of 25.00 Hz for NonDXLStatusThread. Currently 24.34 Hz
[INFO ] [09/14/2022 19:21:55.665] [robot_monitor]: Guarded contact lift
[INFO ] [09/14/2022 19:21:56.912] [robot_monitor]: Guarded contact lift
[DEBUG ] [09/14/2022 19:21:57.380] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 50 -----------
[DEBUG ] [09/14/2022 19:21:57.381] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:21:57.381] [NonDXLStatusThread]: Current rate (Hz): 23.963207
[DEBUG ] [09/14/2022 19:21:57.381] [NonDXLStatusThread]: Average rate (Hz): 25.466288
[DEBUG ] [09/14/2022 19:21:57.381] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 5.565590
[DEBUG ] [09/14/2022 19:21:57.381] [NonDXLStatusThread]: Min rate (Hz): 15.789013
[DEBUG ] [09/14/2022 19:21:57.381] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:21:57.381] [NonDXLStatusThread]: Supportable rate (Hz): 28.971226
[DEBUG ] [09/14/2022 19:21:57.381] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 5.097181
[DEBUG ] [09/14/2022 19:21:57.381] [NonDXLStatusThread]: Warnings: 9 out of 50
[DEBUG ] [09/14/2022 19:21:57.381] [NonDXLStatusThread]: Sleep time (s): 0.004895
[INFO ] [09/14/2022 19:21:57.887] [robot_monitor]: Guarded contact arm
[DEBUG ] [09/14/2022 19:21:58.562] [DXLStatusThread]: --------- TimingStats DXLStatusThread 50 -----------
[DEBUG ] [09/14/2022 19:21:58.562] [DXLStatusThread]: Target rate: 15.000000
[DEBUG ] [09/14/2022 19:21:58.562] [DXLStatusThread]: Current rate (Hz): 15.166476
[DEBUG ] [09/14/2022 19:21:58.562] [DXLStatusThread]: Average rate (Hz): 15.807923
[DEBUG ] [09/14/2022 19:21:58.562] [DXLStatusThread]: Standard deviation of rate history (Hz): 3.933138
[DEBUG ] [09/14/2022 19:21:58.562] [DXLStatusThread]: Min rate (Hz): 14.104854
[DEBUG ] [09/14/2022 19:21:58.562] [DXLStatusThread]: Max rate (Hz): 33.307953
[DEBUG ] [09/14/2022 19:21:58.562] [DXLStatusThread]: Supportable rate (Hz): 33.612465
[DEBUG ] [09/14/2022 19:21:58.563] [DXLStatusThread]: Standard deviation of supportable rate history (Hz): 1.659280
[DEBUG ] [09/14/2022 19:21:58.563] [DXLStatusThread]: Warnings: 0 out of 50
[DEBUG ] [09/14/2022 19:21:58.563] [DXLStatusThread]: Sleep time (s): 0.037873
[INFO ] [09/14/2022 19:21:59.076] [robot_monitor]: Guarded contact arm
[DEBUG ] [09/14/2022 19:21:59.486] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 100 -----------
[DEBUG ] [09/14/2022 19:21:59.487] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:21:59.487] [NonDXLStatusThread]: Current rate (Hz): 23.207826
[DEBUG ] [09/14/2022 19:21:59.487] [NonDXLStatusThread]: Average rate (Hz): 25.277939
[DEBUG ] [09/14/2022 19:21:59.487] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 5.797774
[DEBUG ] [09/14/2022 19:21:59.487] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:21:59.487] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:21:59.487] [NonDXLStatusThread]: Supportable rate (Hz): 28.938391
[DEBUG ] [09/14/2022 19:21:59.487] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 5.592843
[DEBUG ] [09/14/2022 19:21:59.487] [NonDXLStatusThread]: Warnings: 19 out of 100
[DEBUG ] [09/14/2022 19:21:59.487] [NonDXLStatusThread]: Sleep time (s): 0.004394
[DEBUG ] [09/14/2022 19:22:01.500] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 150 -----------
[DEBUG ] [09/14/2022 19:22:01.500] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:01.500] [NonDXLStatusThread]: Current rate (Hz): 22.785719
[DEBUG ] [09/14/2022 19:22:01.500] [NonDXLStatusThread]: Average rate (Hz): 25.251739
[DEBUG ] [09/14/2022 19:22:01.500] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 5.277936
[DEBUG ] [09/14/2022 19:22:01.500] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:01.501] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:22:01.501] [NonDXLStatusThread]: Supportable rate (Hz): 29.455249
[DEBUG ] [09/14/2022 19:22:01.501] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 5.039116
[DEBUG ] [09/14/2022 19:22:01.501] [NonDXLStatusThread]: Warnings: 21 out of 150
[DEBUG ] [09/14/2022 19:22:01.501] [NonDXLStatusThread]: Sleep time (s): 0.002349
[DEBUG ] [09/14/2022 19:22:01.902] [DXLStatusThread]: --------- TimingStats DXLStatusThread 100 -----------
[DEBUG ] [09/14/2022 19:22:01.902] [DXLStatusThread]: Target rate: 15.000000
[DEBUG ] [09/14/2022 19:22:01.902] [DXLStatusThread]: Current rate (Hz): 14.522710
[DEBUG ] [09/14/2022 19:22:01.902] [DXLStatusThread]: Average rate (Hz): 15.382207
[DEBUG ] [09/14/2022 19:22:01.902] [DXLStatusThread]: Standard deviation of rate history (Hz): 2.798128
[DEBUG ] [09/14/2022 19:22:01.903] [DXLStatusThread]: Min rate (Hz): 14.104854
[DEBUG ] [09/14/2022 19:22:01.903] [DXLStatusThread]: Max rate (Hz): 33.307953
[DEBUG ] [09/14/2022 19:22:01.903] [DXLStatusThread]: Supportable rate (Hz): 33.940271
[DEBUG ] [09/14/2022 19:22:01.903] [DXLStatusThread]: Standard deviation of supportable rate history (Hz): 1.541412
[DEBUG ] [09/14/2022 19:22:01.903] [DXLStatusThread]: Warnings: 0 out of 100
[DEBUG ] [09/14/2022 19:22:01.903] [DXLStatusThread]: Sleep time (s): 0.035953
[DEBUG ] [09/14/2022 19:22:03.511] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 200 -----------
[DEBUG ] [09/14/2022 19:22:03.512] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:03.512] [NonDXLStatusThread]: Current rate (Hz): 43.209511
[DEBUG ] [09/14/2022 19:22:03.512] [NonDXLStatusThread]: Average rate (Hz): 25.649366
[DEBUG ] [09/14/2022 19:22:03.512] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 4.864698
[DEBUG ] [09/14/2022 19:22:03.512] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:03.512] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:22:03.512] [NonDXLStatusThread]: Supportable rate (Hz): 30.181804
[DEBUG ] [09/14/2022 19:22:03.512] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 4.379899
[DEBUG ] [09/14/2022 19:22:03.512] [NonDXLStatusThread]: Warnings: 26 out of 200
[DEBUG ] [09/14/2022 19:22:03.512] [NonDXLStatusThread]: Sleep time (s): 0.018565
[DEBUG ] [09/14/2022 19:22:05.249] [DXLStatusThread]: --------- TimingStats DXLStatusThread 150 -----------
[DEBUG ] [09/14/2022 19:22:05.249] [DXLStatusThread]: Target rate: 15.000000
[DEBUG ] [09/14/2022 19:22:05.249] [DXLStatusThread]: Current rate (Hz): 14.484995
[DEBUG ] [09/14/2022 19:22:05.249] [DXLStatusThread]: Average rate (Hz): 14.969043
[DEBUG ] [09/14/2022 19:22:05.249] [DXLStatusThread]: Standard deviation of rate history (Hz): 0.345257
[DEBUG ] [09/14/2022 19:22:05.249] [DXLStatusThread]: Min rate (Hz): 14.104854
[DEBUG ] [09/14/2022 19:22:05.249] [DXLStatusThread]: Max rate (Hz): 33.307953
[DEBUG ] [09/14/2022 19:22:05.249] [DXLStatusThread]: Supportable rate (Hz): 34.022887
[DEBUG ] [09/14/2022 19:22:05.249] [DXLStatusThread]: Standard deviation of supportable rate history (Hz): 1.248367
[DEBUG ] [09/14/2022 19:22:05.249] [DXLStatusThread]: Warnings: 0 out of 150
[DEBUG ] [09/14/2022 19:22:05.249] [DXLStatusThread]: Sleep time (s): 0.036230
[DEBUG ] [09/14/2022 19:22:05.584] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 250 -----------
[DEBUG ] [09/14/2022 19:22:05.585] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:05.585] [NonDXLStatusThread]: Current rate (Hz): 31.160785
[DEBUG ] [09/14/2022 19:22:05.585] [NonDXLStatusThread]: Average rate (Hz): 25.507648
[DEBUG ] [09/14/2022 19:22:05.585] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 5.220282
[DEBUG ] [09/14/2022 19:22:05.585] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:05.585] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:22:05.585] [NonDXLStatusThread]: Supportable rate (Hz): 29.910179
[DEBUG ] [09/14/2022 19:22:05.585] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 4.912080
[DEBUG ] [09/14/2022 19:22:05.585] [NonDXLStatusThread]: Warnings: 36 out of 250
[DEBUG ] [09/14/2022 19:22:05.585] [NonDXLStatusThread]: Sleep time (s): 0.007921
[DEBUG ] [09/14/2022 19:22:07.610] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 300 -----------
[DEBUG ] [09/14/2022 19:22:07.610] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:07.610] [NonDXLStatusThread]: Current rate (Hz): 26.492237
[DEBUG ] [09/14/2022 19:22:07.610] [NonDXLStatusThread]: Average rate (Hz): 25.252690
[DEBUG ] [09/14/2022 19:22:07.610] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 4.728845
[DEBUG ] [09/14/2022 19:22:07.610] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:07.610] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:22:07.610] [NonDXLStatusThread]: Supportable rate (Hz): 29.837162
[DEBUG ] [09/14/2022 19:22:07.610] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 4.567536
[DEBUG ] [09/14/2022 19:22:07.610] [NonDXLStatusThread]: Warnings: 39 out of 300
[DEBUG ] [09/14/2022 19:22:07.610] [NonDXLStatusThread]: Sleep time (s): 0.007933
[DEBUG ] [09/14/2022 19:22:08.584] [DXLStatusThread]: --------- TimingStats DXLStatusThread 200 -----------
[DEBUG ] [09/14/2022 19:22:08.585] [DXLStatusThread]: Target rate: 15.000000
[DEBUG ] [09/14/2022 19:22:08.588] [DXLStatusThread]: Current rate (Hz): 15.419838
[DEBUG ] [09/14/2022 19:22:08.588] [DXLStatusThread]: Average rate (Hz): 14.973540
[DEBUG ] [09/14/2022 19:22:08.589] [DXLStatusThread]: Standard deviation of rate history (Hz): 0.303870
[DEBUG ] [09/14/2022 19:22:08.589] [DXLStatusThread]: Min rate (Hz): 14.104854
[DEBUG ] [09/14/2022 19:22:08.589] [DXLStatusThread]: Max rate (Hz): 33.307953
[DEBUG ] [09/14/2022 19:22:08.589] [DXLStatusThread]: Supportable rate (Hz): 33.601188
[DEBUG ] [09/14/2022 19:22:08.589] [DXLStatusThread]: Standard deviation of supportable rate history (Hz): 1.108199
[DEBUG ] [09/14/2022 19:22:08.589] [DXLStatusThread]: Warnings: 0 out of 200
[DEBUG ] [09/14/2022 19:22:08.589] [DXLStatusThread]: Sleep time (s): 0.037423
[DEBUG ] [09/14/2022 19:22:09.656] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 350 -----------
[DEBUG ] [09/14/2022 19:22:09.656] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:09.656] [NonDXLStatusThread]: Current rate (Hz): 31.252964
[DEBUG ] [09/14/2022 19:22:09.656] [NonDXLStatusThread]: Average rate (Hz): 25.378824
[DEBUG ] [09/14/2022 19:22:09.656] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 4.606966
[DEBUG ] [09/14/2022 19:22:09.656] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:09.656] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:22:09.656] [NonDXLStatusThread]: Supportable rate (Hz): 29.673157
[DEBUG ] [09/14/2022 19:22:09.656] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 4.237957
[DEBUG ] [09/14/2022 19:22:09.656] [NonDXLStatusThread]: Warnings: 47 out of 350
[DEBUG ] [09/14/2022 19:22:09.656] [NonDXLStatusThread]: Sleep time (s): 0.008014
[DEBUG ] [09/14/2022 19:22:11.718] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 400 -----------
[DEBUG ] [09/14/2022 19:22:11.718] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:11.718] [NonDXLStatusThread]: Current rate (Hz): 23.356707
[DEBUG ] [09/14/2022 19:22:11.719] [NonDXLStatusThread]: Average rate (Hz): 25.288810
[DEBUG ] [09/14/2022 19:22:11.719] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 5.224536
[DEBUG ] [09/14/2022 19:22:11.719] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:11.719] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:22:11.719] [NonDXLStatusThread]: Supportable rate (Hz): 28.772920
[DEBUG ] [09/14/2022 19:22:11.719] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 4.452780
[DEBUG ] [09/14/2022 19:22:11.719] [NonDXLStatusThread]: Warnings: 58 out of 400
[DEBUG ] [09/14/2022 19:22:11.719] [NonDXLStatusThread]: Sleep time (s): 0.002929
[DEBUG ] [09/14/2022 19:22:11.924] [DXLStatusThread]: --------- TimingStats DXLStatusThread 250 -----------
[DEBUG ] [09/14/2022 19:22:11.924] [DXLStatusThread]: Target rate: 15.000000
[DEBUG ] [09/14/2022 19:22:11.924] [DXLStatusThread]: Current rate (Hz): 14.715152
[DEBUG ] [09/14/2022 19:22:11.924] [DXLStatusThread]: Average rate (Hz): 14.982365
[DEBUG ] [09/14/2022 19:22:11.924] [DXLStatusThread]: Standard deviation of rate history (Hz): 0.350334
[DEBUG ] [09/14/2022 19:22:11.924] [DXLStatusThread]: Min rate (Hz): 14.104854
[DEBUG ] [09/14/2022 19:22:11.924] [DXLStatusThread]: Max rate (Hz): 33.307953
[DEBUG ] [09/14/2022 19:22:11.924] [DXLStatusThread]: Supportable rate (Hz): 33.644282
[DEBUG ] [09/14/2022 19:22:11.924] [DXLStatusThread]: Standard deviation of supportable rate history (Hz): 1.253732
[DEBUG ] [09/14/2022 19:22:11.924] [DXLStatusThread]: Warnings: 0 out of 250
[DEBUG ] [09/14/2022 19:22:11.924] [DXLStatusThread]: Sleep time (s): 0.036786
[DEBUG ] [09/14/2022 19:22:13.794] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 450 -----------
[DEBUG ] [09/14/2022 19:22:13.794] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:13.794] [NonDXLStatusThread]: Current rate (Hz): 28.298973
[DEBUG ] [09/14/2022 19:22:13.794] [NonDXLStatusThread]: Average rate (Hz): 25.217594
[DEBUG ] [09/14/2022 19:22:13.794] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 5.504367
[DEBUG ] [09/14/2022 19:22:13.794] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:13.794] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:22:13.795] [NonDXLStatusThread]: Supportable rate (Hz): 28.868789
[DEBUG ] [09/14/2022 19:22:13.795] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 5.243640
[DEBUG ] [09/14/2022 19:22:13.795] [NonDXLStatusThread]: Warnings: 70 out of 450
[DEBUG ] [09/14/2022 19:22:13.795] [NonDXLStatusThread]: Sleep time (s): 0.009856
[WARNING ] [09/14/2022 19:22:14.947] [arm]: Arm failed to reach final position
[DEBUG ] [09/14/2022 19:22:15.267] [DXLStatusThread]: --------- TimingStats DXLStatusThread 300 -----------
[DEBUG ] [09/14/2022 19:22:15.267] [DXLStatusThread]: Target rate: 15.000000
[DEBUG ] [09/14/2022 19:22:15.267] [DXLStatusThread]: Current rate (Hz): 14.656533
[DEBUG ] [09/14/2022 19:22:15.268] [DXLStatusThread]: Average rate (Hz): 14.987550
[DEBUG ] [09/14/2022 19:22:15.268] [DXLStatusThread]: Standard deviation of rate history (Hz): 0.547922
[DEBUG ] [09/14/2022 19:22:15.268] [DXLStatusThread]: Min rate (Hz): 13.097254
[DEBUG ] [09/14/2022 19:22:15.268] [DXLStatusThread]: Max rate (Hz): 33.307953
[DEBUG ] [09/14/2022 19:22:15.268] [DXLStatusThread]: Supportable rate (Hz): 33.621204
[DEBUG ] [09/14/2022 19:22:15.269] [DXLStatusThread]: Standard deviation of supportable rate history (Hz): 1.699663
[DEBUG ] [09/14/2022 19:22:15.269] [DXLStatusThread]: Warnings: 0 out of 300
[DEBUG ] [09/14/2022 19:22:15.269] [DXLStatusThread]: Sleep time (s): 0.036335
[DEBUG ] [09/14/2022 19:22:15.820] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 500 -----------
[DEBUG ] [09/14/2022 19:22:15.820] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:15.820] [NonDXLStatusThread]: Current rate (Hz): 28.115538
[DEBUG ] [09/14/2022 19:22:15.820] [NonDXLStatusThread]: Average rate (Hz): 25.247261
[DEBUG ] [09/14/2022 19:22:15.820] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 4.947002
[DEBUG ] [09/14/2022 19:22:15.820] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:15.820] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:22:15.820] [NonDXLStatusThread]: Supportable rate (Hz): 29.462063
[DEBUG ] [09/14/2022 19:22:15.820] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 4.892084
[DEBUG ] [09/14/2022 19:22:15.820] [NonDXLStatusThread]: Warnings: 76 out of 500
[DEBUG ] [09/14/2022 19:22:15.820] [NonDXLStatusThread]: Sleep time (s): 0.007754
[DEBUG ] [09/14/2022 19:22:17.868] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 550 -----------
[DEBUG ] [09/14/2022 19:22:17.868] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:17.868] [NonDXLStatusThread]: Current rate (Hz): 27.784392
[DEBUG ] [09/14/2022 19:22:17.868] [NonDXLStatusThread]: Average rate (Hz): 25.341001
[DEBUG ] [09/14/2022 19:22:17.868] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 4.499837
[DEBUG ] [09/14/2022 19:22:17.868] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:17.868] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:22:17.868] [NonDXLStatusThread]: Supportable rate (Hz): 29.813371
[DEBUG ] [09/14/2022 19:22:17.868] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 4.339431
[DEBUG ] [09/14/2022 19:22:17.868] [NonDXLStatusThread]: Warnings: 82 out of 550
[DEBUG ] [09/14/2022 19:22:17.869] [NonDXLStatusThread]: Sleep time (s): 0.011585
[DEBUG ] [09/14/2022 19:22:18.610] [DXLStatusThread]: --------- TimingStats DXLStatusThread 350 -----------
[DEBUG ] [09/14/2022 19:22:18.610] [DXLStatusThread]: Target rate: 15.000000
[DEBUG ] [09/14/2022 19:22:18.610] [DXLStatusThread]: Current rate (Hz): 14.528344
[DEBUG ] [09/14/2022 19:22:18.610] [DXLStatusThread]: Average rate (Hz): 14.979719
[DEBUG ] [09/14/2022 19:22:18.610] [DXLStatusThread]: Standard deviation of rate history (Hz): 0.636276
[DEBUG ] [09/14/2022 19:22:18.610] [DXLStatusThread]: Min rate (Hz): 13.097254
[DEBUG ] [09/14/2022 19:22:18.610] [DXLStatusThread]: Max rate (Hz): 33.307953
[DEBUG ] [09/14/2022 19:22:18.610] [DXLStatusThread]: Supportable rate (Hz): 32.993015
[DEBUG ] [09/14/2022 19:22:18.610] [DXLStatusThread]: Standard deviation of supportable rate history (Hz): 1.969754
[DEBUG ] [09/14/2022 19:22:18.610] [DXLStatusThread]: Warnings: 0 out of 350
[DEBUG ] [09/14/2022 19:22:18.610] [DXLStatusThread]: Sleep time (s): 0.034422
[DEBUG ] [09/14/2022 19:22:19.922] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 600 -----------
[DEBUG ] [09/14/2022 19:22:19.922] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:19.922] [NonDXLStatusThread]: Current rate (Hz): 20.517067
[DEBUG ] [09/14/2022 19:22:19.922] [NonDXLStatusThread]: Average rate (Hz): 25.445106
[DEBUG ] [09/14/2022 19:22:19.922] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 5.535284
[DEBUG ] [09/14/2022 19:22:19.922] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:19.922] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:22:19.922] [NonDXLStatusThread]: Supportable rate (Hz): 30.433853
[DEBUG ] [09/14/2022 19:22:19.923] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 5.547355
[DEBUG ] [09/14/2022 19:22:19.923] [NonDXLStatusThread]: Warnings: 91 out of 600
[DEBUG ] [09/14/2022 19:22:19.923] [NonDXLStatusThread]: Sleep time (s): 0.004820
[DEBUG ] [09/14/2022 19:22:21.951] [DXLStatusThread]: --------- TimingStats DXLStatusThread 400 -----------
[DEBUG ] [09/14/2022 19:22:21.951] [DXLStatusThread]: Target rate: 15.000000
[DEBUG ] [09/14/2022 19:22:21.951] [DXLStatusThread]: Current rate (Hz): 14.939906
[DEBUG ] [09/14/2022 19:22:21.951] [DXLStatusThread]: Average rate (Hz): 14.978598
[DEBUG ] [09/14/2022 19:22:21.951] [DXLStatusThread]: Standard deviation of rate history (Hz): 0.495562
[DEBUG ] [09/14/2022 19:22:21.951] [DXLStatusThread]: Min rate (Hz): 13.097254
[DEBUG ] [09/14/2022 19:22:21.951] [DXLStatusThread]: Max rate (Hz): 33.307953
[DEBUG ] [09/14/2022 19:22:21.952] [DXLStatusThread]: Supportable rate (Hz): 33.068846
[DEBUG ] [09/14/2022 19:22:21.952] [DXLStatusThread]: Standard deviation of supportable rate history (Hz): 1.693725
[DEBUG ] [09/14/2022 19:22:21.952] [DXLStatusThread]: Warnings: 0 out of 400
[DEBUG ] [09/14/2022 19:22:21.952] [DXLStatusThread]: Sleep time (s): 0.036648
[DEBUG ] [09/14/2022 19:22:21.975] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 650 -----------
[DEBUG ] [09/14/2022 19:22:21.975] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:21.975] [NonDXLStatusThread]: Current rate (Hz): 15.243146
[DEBUG ] [09/14/2022 19:22:21.975] [NonDXLStatusThread]: Average rate (Hz): 25.261617
[DEBUG ] [09/14/2022 19:22:21.975] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 5.526039
[DEBUG ] [09/14/2022 19:22:21.975] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:21.975] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:22:21.975] [NonDXLStatusThread]: Supportable rate (Hz): 30.105013
[DEBUG ] [09/14/2022 19:22:21.975] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 5.443269
[DEBUG ] [09/14/2022 19:22:21.975] [NonDXLStatusThread]: Warnings: 95 out of 650
[DEBUG ] [09/14/2022 19:22:21.975] [NonDXLStatusThread]: Sleep time (s): -0.020553
[DEBUG ] [09/14/2022 19:22:22.561] [stretch_gripper]: Previous HOMING_OFFSET in EEPROM 761
[DEBUG ] [09/14/2022 19:22:22.568] [stretch_gripper]: Setting homing offset to 764
[DEBUG ] [09/14/2022 19:22:22.575] [stretch_gripper]: New HOMING_OFFSET in EEPROM 764
[DEBUG ] [09/14/2022 19:22:22.579] [stretch_gripper]: Current position after homing 2
[DEBUG ] [09/14/2022 19:22:24.087] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 700 -----------
[DEBUG ] [09/14/2022 19:22:24.087] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:24.087] [NonDXLStatusThread]: Current rate (Hz): 14.886616
[DEBUG ] [09/14/2022 19:22:24.087] [NonDXLStatusThread]: Average rate (Hz): 25.149231
[DEBUG ] [09/14/2022 19:22:24.087] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 5.289681
[DEBUG ] [09/14/2022 19:22:24.087] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:24.087] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:22:24.087] [NonDXLStatusThread]: Supportable rate (Hz): 29.113492
[DEBUG ] [09/14/2022 19:22:24.087] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 5.242532
[DEBUG ] [09/14/2022 19:22:24.087] [NonDXLStatusThread]: Warnings: 107 out of 700
[DEBUG ] [09/14/2022 19:22:24.087] [NonDXLStatusThread]: Sleep time (s): -0.019663
[DEBUG ] [09/14/2022 19:22:25.292] [DXLStatusThread]: --------- TimingStats DXLStatusThread 450 -----------
[DEBUG ] [09/14/2022 19:22:25.293] [DXLStatusThread]: Target rate: 15.000000
[DEBUG ] [09/14/2022 19:22:25.293] [DXLStatusThread]: Current rate (Hz): 14.952849
[DEBUG ] [09/14/2022 19:22:25.293] [DXLStatusThread]: Average rate (Hz): 15.025770
[DEBUG ] [09/14/2022 19:22:25.293] [DXLStatusThread]: Standard deviation of rate history (Hz): 0.904845
[DEBUG ] [09/14/2022 19:22:25.293] [DXLStatusThread]: Min rate (Hz): 12.204985
[DEBUG ] [09/14/2022 19:22:25.293] [DXLStatusThread]: Max rate (Hz): 33.307953
[DEBUG ] [09/14/2022 19:22:25.293] [DXLStatusThread]: Supportable rate (Hz): 32.989897
[DEBUG ] [09/14/2022 19:22:25.293] [DXLStatusThread]: Standard deviation of supportable rate history (Hz): 2.267069
[DEBUG ] [09/14/2022 19:22:25.293] [DXLStatusThread]: Warnings: 0 out of 450
[DEBUG ] [09/14/2022 19:22:25.293] [DXLStatusThread]: Sleep time (s): 0.037327
[DEBUG ] [09/14/2022 19:22:26.158] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 750 -----------
[DEBUG ] [09/14/2022 19:22:26.158] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:26.159] [NonDXLStatusThread]: Current rate (Hz): 29.334284
[DEBUG ] [09/14/2022 19:22:26.159] [NonDXLStatusThread]: Average rate (Hz): 25.214132
[DEBUG ] [09/14/2022 19:22:26.159] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 5.541007
[DEBUG ] [09/14/2022 19:22:26.159] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:26.159] [NonDXLStatusThread]: Max rate (Hz): 50.511266
[DEBUG ] [09/14/2022 19:22:26.159] [NonDXLStatusThread]: Supportable rate (Hz): 28.504664
[DEBUG ] [09/14/2022 19:22:26.159] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 5.341462
[DEBUG ] [09/14/2022 19:22:26.159] [NonDXLStatusThread]: Warnings: 119 out of 750
[DEBUG ] [09/14/2022 19:22:26.159] [NonDXLStatusThread]: Sleep time (s): 0.007438
[DEBUG ] [09/14/2022 19:22:28.232] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 800 -----------
[DEBUG ] [09/14/2022 19:22:28.233] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:28.233] [NonDXLStatusThread]: Current rate (Hz): 20.656813
[DEBUG ] [09/14/2022 19:22:28.233] [NonDXLStatusThread]: Average rate (Hz): 25.301691
[DEBUG ] [09/14/2022 19:22:28.233] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 5.731984
[DEBUG ] [09/14/2022 19:22:28.233] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:28.233] [NonDXLStatusThread]: Max rate (Hz): 52.087626
[DEBUG ] [09/14/2022 19:22:28.233] [NonDXLStatusThread]: Supportable rate (Hz): 28.795578
[DEBUG ] [09/14/2022 19:22:28.233] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 5.621928
[DEBUG ] [09/14/2022 19:22:28.233] [NonDXLStatusThread]: Warnings: 130 out of 800
[DEBUG ] [09/14/2022 19:22:28.233] [NonDXLStatusThread]: Sleep time (s): 0.012493
[DEBUG ] [09/14/2022 19:22:28.629] [DXLStatusThread]: --------- TimingStats DXLStatusThread 500 -----------
[DEBUG ] [09/14/2022 19:22:28.629] [DXLStatusThread]: Target rate: 15.000000
[DEBUG ] [09/14/2022 19:22:28.629] [DXLStatusThread]: Current rate (Hz): 14.737955
[DEBUG ] [09/14/2022 19:22:28.629] [DXLStatusThread]: Average rate (Hz): 15.017693
[DEBUG ] [09/14/2022 19:22:28.629] [DXLStatusThread]: Standard deviation of rate history (Hz): 0.910437
[DEBUG ] [09/14/2022 19:22:28.629] [DXLStatusThread]: Min rate (Hz): 12.204985
[DEBUG ] [09/14/2022 19:22:28.629] [DXLStatusThread]: Max rate (Hz): 33.307953
[DEBUG ] [09/14/2022 19:22:28.629] [DXLStatusThread]: Supportable rate (Hz): 33.065578
[DEBUG ] [09/14/2022 19:22:28.629] [DXLStatusThread]: Standard deviation of supportable rate history (Hz): 2.338059
[DEBUG ] [09/14/2022 19:22:28.630] [DXLStatusThread]: Warnings: 0 out of 500
[DEBUG ] [09/14/2022 19:22:28.630] [DXLStatusThread]: Sleep time (s): 0.036073
[DEBUG ] [09/14/2022 19:22:29.645] [wrist_yaw]: Previous HOMING_OFFSET in EEPROM 1455
[DEBUG ] [09/14/2022 19:22:29.653] [wrist_yaw]: Setting homing offset to 1455
[DEBUG ] [09/14/2022 19:22:29.661] [wrist_yaw]: New HOMING_OFFSET in EEPROM 1455
[DEBUG ] [09/14/2022 19:22:29.665] [wrist_yaw]: Current position after homing 10
[DEBUG ] [09/14/2022 19:22:29.740] [DXLStatusThread]: Missed target loop rate of 15.00 Hz for DXLStatusThread. Currently 9.11 Hz
[DEBUG ] [09/14/2022 19:22:30.270] [NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 850 -----------
[DEBUG ] [09/14/2022 19:22:30.271] [NonDXLStatusThread]: Target rate: 25.000000
[DEBUG ] [09/14/2022 19:22:30.271] [NonDXLStatusThread]: Current rate (Hz): 22.443235
[DEBUG ] [09/14/2022 19:22:30.271] [NonDXLStatusThread]: Average rate (Hz): 25.421080
[DEBUG ] [09/14/2022 19:22:30.271] [NonDXLStatusThread]: Standard deviation of rate history (Hz): 5.859559
[DEBUG ] [09/14/2022 19:22:30.271] [NonDXLStatusThread]: Min rate (Hz): 14.044259
[DEBUG ] [09/14/2022 19:22:30.271] [NonDXLStatusThread]: Max rate (Hz): 52.087626
[DEBUG ] [09/14/2022 19:22:30.271] [NonDXLStatusThread]: Supportable rate (Hz): 29.667070
[DEBUG ] [09/14/2022 19:22:30.271] [NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 5.696171
[DEBUG ] [09/14/2022 19:22:30.271] [NonDXLStatusThread]: Warnings: 137 out of 850
[DEBUG ] [09/14/2022 19:22:30.271] [NonDXLStatusThread]: Sleep time (s): 0.002844
[DEBUG ] [09/14/2022 19:22:31.976] [DXLStatusThread]: --------- TimingStats DXLStatusThread 550 -----------
[DXLStatusThread]: Target rate: 15.000000
[DXLStatusThread]: Current rate (Hz): 14.745208
[DXLStatusThread]: Average rate (Hz): 15.110409
[DXLStatusThread]: Standard deviation of rate history (Hz): 2.079817
[DXLStatusThread]: Min rate (Hz): 9.109834
[DXLStatusThread]: Max rate (Hz): 34.475621
[DXLStatusThread]: Supportable rate (Hz): 33.184570
[DXLStatusThread]: Standard deviation of supportable rate history (Hz): 2.530846
[DXLStatusThread]: Warnings: 1 out of 550
[DXLStatusThread]: Sleep time (s): 0.034996
[NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 900 -----------
[NonDXLStatusThread]: Target rate: 25.000000
[NonDXLStatusThread]: Current rate (Hz): 21.832257
[NonDXLStatusThread]: Average rate (Hz): 25.283471
[NonDXLStatusThread]: Standard deviation of rate history (Hz): 5.165508
[NonDXLStatusThread]: Min rate (Hz): 14.044259
[NonDXLStatusThread]: Max rate (Hz): 52.087626
[NonDXLStatusThread]: Supportable rate (Hz): 29.260867
[NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 4.926687
[NonDXLStatusThread]: Warnings: 146 out of 900
[NonDXLStatusThread]: Sleep time (s): 0.003368
[NonDXLStatusThread]: --------- TimingStats NonDXLStatusThread 950 -----------
[NonDXLStatusThread]: Target rate: 25.000000
[NonDXLStatusThread]: Current rate (Hz): 22.563730
[NonDXLStatusThread]: Average rate (Hz): 25.301683
[NonDXLStatusThread]: Standard deviation of rate history (Hz): 4.660842
[NonDXLStatusThread]: Min rate (Hz): 14.044259
[NonDXLStatusThread]: Max rate (Hz): 52.087626
[NonDXLStatusThread]: Supportable rate (Hz): 29.273242
[NonDXLStatusThread]: Standard deviation of supportable rate history (Hz): 4.545383
[NonDXLStatusThread]: Warnings: 154 out of 950
[NonDXLStatusThread]: Sleep time (s): 0.008718

Thank you for these logs @Yuki_Wang. I believe it will be easier to debug this issue over a support call. I’ve sent you an email. Thank you!