Stretch gripper ping failed

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1

Hi,

I am using dex wrist, while, when performing stretch_gripper_home.py, I got the following error msg.
[WARNING] [stretch_gripper]: DynamixelHelloXL430 Ping failed… stretch_gripper
DynamixelHelloXL430 Ping failed… stretch_gripper

When performing stretch_robot_home.py, similar error msg shows:
[WARNING] [stretch_gripper]: DynamixelHelloXL430 Ping failed… stretch_gripper
DynamixelHelloXL430 Ping failed… stretch_gripper

--------- Homing Lift ----
Homing lift…
[WARNING] [tool_stretch_gripper]: Device tool_stretch_gripper generating 42.398803 errors per minute
[WARNING] [tool_stretch_gripper]: Device tool_stretch_gripper generating 45.771546 errors per minute
[WARNING] [tool_stretch_gripper]: Device tool_stretch_gripper generating 24.871454 errors per minute
[WARNING] [tool_stretch_gripper]: Device tool_stretch_gripper generating 17.266612 errors per minute
[WARNING] [tool_stretch_gripper]: Device tool_stretch_gripper generating 13.257754 errors per minute
Upward contact detected at motor position (rad) 115.422622681 1.10220485666
Marking lift position to (m) 1.10003981419
[WARNING] [tool_stretch_gripper]: Device tool_stretch_gripper generating 10.768152 errors per minute
[WARNING] [tool_stretch_gripper]: Device tool_stretch_gripper generating 9.068680 errors per minute
[WARNING] [tool_stretch_gripper]: Device tool_stretch_gripper generating 7.833981 errors per minute
[WARNING] [tool_stretch_gripper]: Device tool_stretch_gripper generating 6.895839 errors per minute
[WARNING] [tool_stretch_gripper]: Device tool_stretch_gripper generating 6.159041 errors per minute

--------- Homing Arm ----
Homing Arm…
Retraction contact detected at motor position (rad) -0.176993817091
Marking arm position to (m) 0.0
Arm homing successful
--------- Homing wrist_yaw ----
Moving to first hardstop…
Contact at position: -13
Hit first hardstop, marking to zero ticks
Homing is now 4742
Raw position: 11
Moving to calibrated zero: (rad)
--------- Homing stretch_gripper ----
[WARNING] [stretch_gripper]: Not able to home stretch_gripper. Hardware not present

I beilieve there might be some software issues, could you please help suggest ways to solve this?

2

Hi. Can you check that the cable is fully seated into your gripper? Sometimes they can partially pull out. Also, what is reported when running

RE1_dynamixel_id_scan.py /dev/hello-dynamixel-wrist --baud 115200
3

Hi,

Please find the output of the ID scan for wrist follows:

Overwritting Factory Params with User Params. Type mismatch for key: tool_none
Scanning bus /dev/hello-dynamixel-wrist at baud rate 115200

[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[Dynamixel ID:013] ping Succeeded. Dynamixel model number : 1060
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[Dynamixel ID:015] ping Succeeded. Dynamixel model number : 1120
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.
[ERROR] [root]: DynamixelCommError. Mismatched baud rate. Expected 115200 but servo is set to -1.

4

Thank you. What do you see with:

RE1_dynamixel_id_scan.py /dev/hello-dynamixel-wrist --baud 57600

Also, what is the output of

stretch_params.py | grep baud