ConnectionError: Read failed due to communication error on port COM10 for group_key Present_Position_shoulder_pan_shoulder_lift_elbow_flex_wrist_flex_wrist_roll_gripper: [TxRxResult] There is no status packet!

[JohnsonLv]

System Info

- `lerobot` version: 0.1.0
- Platform: Windows-10-10.0.22621-SP0
- Python version: 3.10.15
- Huggingface_hub version: 0.26.3
- Dataset version: 3.1.0
- Numpy version: 1.26.4
- PyTorch version (GPU?): 2.5.1+cpu (False)
- Cuda version: N/A
- Using GPU in script?: <fill in>

Information

• [ ] One of the scripts in the examples/ folder of LeRobot
• [ ] My own task or dataset (give details below)

Reproduction

D:\Project\leRobot\lerobot>python lerobot/scripts/control_robot.py teleoperate --robot-path lerobot/configs/robot/so100.yaml Connecting main follower arm. Connecting main leader arm. Activating torque on main follower arm. INFO 2024-12-08 19:45:36 rol_utils.py:70 dt:33.55 (29.8hz) dtRlead: 4.32 (231.4hz) dtWfoll: 1.73 (578.3hz) dtRfoll: 3.01 (332.6hz) INFO 2024-12-08 19:45:36 rol_utils.py:70 dt:11.93 (83.8hz) dtRlead: 3.58 (279.2hz) dtWfoll: 0.75 (1336.5hz) dtRfoll: 2.42 (413.1hz) INFO 2024-12-08 19:45:36 rol_utils.py:70 dt:14.04 (71.2hz) dtRlead: 3.42 (292.6hz) dtWfoll: 1.26 (795.1hz) dtRfoll: 3.16 (316.0hz) INFO 2024-12-08 19:45:36 rol_utils.py:70 dt:24.32 (41.1hz) dtRlead: 3.40 (293.7hz) dtWfoll: 0.91 (1100.7hz) dtRfoll: 2.87 (348.5hz) INFO 2024-12-08 19:45:36 rol_utils.py:70 dt:22.62 (44.2hz) dtRlead: 3.36 (297.5hz) dtWfoll: 0.87 (1143.6hz) dtRfoll: 3.16 (316.1hz) INFO 2024-12-08 19:45:36 rol_utils.py:70 dt:14.84 (67.4hz) dtRlead: 4.02 (248.9hz) dtWfoll: 2.86 (349.3hz) dtRfoll: 3.56 (280.7hz) INFO 2024-12-08 19:45:36 rol_utils.py:70 dt:12.50 (80.0hz) dtRlead: 3.11 (321.3hz) dtWfoll: 1.20 (835.8hz) dtRfoll: 3.75 (267.0hz) INFO 2024-12-08 19:45:36 rol_utils.py:70 dt:14.60 (68.5hz) dtRlead: 3.33 (300.3hz) dtWfoll: 2.10 (475.1hz) dtRfoll: 6.18 (161.7hz) INFO 2024-12-08 19:45:36 rol_utils.py:70 dt:13.96 (71.6hz) dtRlead: 2.89 (345.5hz) dtWfoll: 0.94 (1068.6hz) dtRfoll: 3.12 (320.1hz) INFO 2024-12-08 19:45:36 rol_utils.py:70 dt:14.53 (68.8hz) dtRlead: 2.67 (374.5hz) dtWfoll: 0.85 (1180.8hz) dtRfoll: 2.71 (369.5hz) INFO 2024-12-08 19:45:36 rol_utils.py:70 dt:15.13 (66.1hz) dtRlead: 3.69 (271.3hz) dtWfoll: 1.05 (952.3hz) dtRfoll: 2.89 (346.6hz) INFO 2024-12-08 19:45:36 rol_utils.py:70 dt:14.47 (69.1hz) dtRlead: 2.97 (336.9hz) dtWfoll: 0.80 (1243.9hz) dtRfoll: 2.48 (403.0hz) INFO 2024-12-08 19:45:36 rol_utils.py:70 dt:13.85 (72.2hz) dtRlead: 3.80 (263.4hz) dtWfoll: 1.11 (903.5hz) dtRfoll: 3.07 (326.1hz) Traceback (most recent call last): File "D:\Project\leRobot\lerobot\lerobot\scripts\control_robot.py", line 552, in teleoperate(robot, **kwargs) File "D:\Project\leRobot\lerobot\lerobot\common\robot_devices\utils.py", line 28, in wrapper raise e File "D:\Project\leRobot\lerobot\lerobot\common\robot_devices\utils.py", line 24, in wrapper return func(robot, *args, **kwargs) File "D:\Project\leRobot\lerobot\lerobot\scripts\control_robot.py", line 177, in teleoperate control_loop( File "D:\Project\leRobot\lerobot\lerobot\common\datasets\image_writer.py", line 36, in wrapper raise e File "D:\Project\leRobot\lerobot\lerobot\common\datasets\image_writer.py", line 29, in wrapper return func(*args, **kwargs) File "D:\Project\leRobot\lerobot\lerobot\common\robot_devices\control_utils.py", line 262, in control_loop observation, action = robot.teleop_step(record_data=True) File "D:\Project\leRobot\lerobot\lerobot\common\robot_devices\robots\manipulator.py", line 549, in teleop_step follower_pos[name] = self.follower_arms[name].read("Present_Position") File "D:\Project\leRobot\lerobot\lerobot\common\robot_devices\motors\feetech.py", line 740, in read raise ConnectionError( ConnectionError: Read failed due to communication error on port COM10 for group_key Present_Position_shoulder_pan_shoulder_lift_elbow_flex_wrist_flex_wrist_roll_gripper: [TxRxResult] There is no status packet!

Expected behavior

solve this problem

[IlIllllll]

It kinda looks like the cable to the motor is loose and communication with the motor is disconnected

[JohnsonLv]

But why cause this problem ,when I calibrated them ,no package lost!

[JohnsonLv]

still this problem ,who can help me ?

[IlIllllll]

For a while I was using a robotic arm that would disconnect when I turned it to a specific angle, I found out it was a loose data cable from the motor, could you try swapping out the data cable from the motor?

[carolineys]

still this problem ,who can help me ?

Have you found a solution? I am having the same issue for my leader arm while my follower arm connect just fine.

[ParzivalExtrimis]

I was having the exact same issue on my SO-100. The issue was a cable that had loosened wiring. It seems you are also using a serial Bus style system. Just try reading the servo position with all servos detached and adding them one at a time in a position where the cables are most strained

[srsaito]

I am having a similar issue with the Koch 1.1 follower arm in teleoperator mode. I find that I intermittently get the Present_Position_shoulder_pan_shoulder_lift_elbow_flex_wrist_flex_wrist_roll_gripper error. But I found I can just re-run the teleoperator script and everything runs fun until the next intermittent error - no need to power cycle robot, no need to robot.disconnect()/robot.connect().

I am wondering if it would be OK to just have the code ignore the error and continue running.

[kokun66]

it happened to me too: It seems to fail to read leader arm but OK to read from the follower arm. Is it related to that I removed all the gears of the motors of leader according to the video?

[kokun66]

Indeed it was due to cable connections..., it works now after fixed a loose socket..

[CarolinePascal]

Hi everyone !

I'm closing the issue as its seems the bug was related to cable connections and loosened wiring.

Best,

Caroline.

[srsaito]

For me it turned out to be a cable problem, too

[Jeevesh2009]

I can connect to all 6 motors of two arms and read position. still getting the similar error. @CarolinePascal

[JimmyPang02]

I resolved this issue by removing the gripper, recalibrating the sixth servo motor, then reinstalling the gripper with the same orientation, and finally calibrating the robotic arm again.

[Bris557]

I have the same issue, seems like some wire loosened but I cant understand which exactly and dont want to disassemble the whole stuff.

@JimmyPang02 can you clarify what does it mean "recalibrating the sixth servo motor"? How Is it possible to recalibrate only one motor instead of the whole arm?|

Thank you.

[jzzzzzzzzzzzzzzzz]

I fixed the error after upgrading feetech's motor firmware

[Davidarduinoclone]

@jzzzzzzzzzzzzzzzz Can you please let us know how to upgrade the firmware. We are having the same issues.

[Davidarduinoclone]

Also when we move the follower arm, the follower board is shutdown and turning back on. Please help.

[Jeevesh2009]

I ended up realizing that the frequency of reading the values from the motors is very low , try teleoperating fewer motors you wont get the error, I am able to teleoperate all 6 motors if i am adding some wait_length in the code. But since the freq is low and again i am inducing some delay , the motion is very shaky. Can anyone help? I am using waveshare st3215 HS servos.

rol_utils.py:82 dt:46.91 (21.3hz) dtRlead:17.74 (56.4hz) dtWfoll: 1.24 (804.4hz) dtRfoll:27.87 (35.9hz)

[ARTOFCRASH]

I only had this problem when calibrating the leader, and at first I thought it was a problem with the wires being in poor contact. But it wasn't. After I updated the motor version (3.9->3.10), the problem was solved.