Hi ! I am dealing with a (new ?) problem since a few days. But before, here is my Poppy’s story. I’ve begun to work with the Torso of a Poppy Humanoid (so I called poppybot=PoppyTorso() ). I’ve worked on it first in low level, and then with PoppyTorso(), even used primitives. All worked well ! An…

Are you using one or two USB2AX (one for upper body, another for legs) ? Are you sure that the return_delay_time is set to 0 ?

[image] Theo: Are you sure that the return_delay_time is set to 0 ? I’ve just checked one more time. Yes they are all configured, including return_delay_time config. BUT It looks like one of them has been reset :hushed:. It’s weird because it was first configured… So i reconfigured it …

We already see motors come back to initial configuration we don’t know exactly why but this is probably a wrang connection on a wire (12v on the data line?). Your two problem could be the same, you have a failing wire somewhere. This kind of problem is really dificult to locate, you have to test it…

How old is your robot ? The Dynamixel hubs is the first thing I removed because of false contacts inside (when there is mechanical sollicitation) I solded the wires together for the legs (just a Y wire) and for the torso (this one is much difficult, it is an octopuss) If you want to check your wi…

[image] damiend: EDIT : Another question is : why does it work in low level (never have a TimeOut problem), but not when I do poppy=PoppyHumanoid() ? Can’t I modify the configuration file to increase the TimeOut ? are there consequences ? When you work at the robot level, there is a controlle…

[image] Thot: How old is your robot ? The robot is about 1 year old ? It’s the Poppy @Manon used ! Actually, when I began working on it, its left leg was broken, that’s why I worked only on the torso. I’ve repaired its leg (replaced the defective motors), and here I am. [image] Thot: The…

I’ve been making some tests about the legs, here are the results : The hub looks like good (no lost of Vcc, communication ok) the voltages are : about 11.6V everywhere, except in the right leg, about 11.3V in the r_ankle_y and the r_knee_y. (after one cable change) The voltage sometimes tends to f…

TimeOut when doing PoppyHumanoid()

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TimeOut when doing PoppyHumanoid()

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