Hi,
I am trying to make a modified Poppy Torso on a Raspberry Pi 3, working on poppy.local.
In this modified Torso, the motors 43, 44, 53, 54 are removed, and the motors 33, 34, 35 are replaced by MX106 ones. The robot configuration file has been modified, including putting MX106 instead of MX28 for the considered motors.
But when I try initializing the robot, I have the following message : “Your active links mask length of 7 is different from the number of your links, which is 9”. It’s the first time I see this one. Has someone any idea of what it means and how to solve it ?
Attempt 1 to start the robot...
SnapRobotServer is now running on: http://0.0.0.0:6969
You can open Snap! interface with loaded blocks at "http://snap.berkeley.edu/snapsource/snap.html#open:http://192.168.0.166:6969/snap-blocks.xml"
HTTPRobotServer is now running on: http://0.0.0.0:8080
Your active links mask length of 7 is different from the number of your links, which is 9
Attempt 2 to start the robot...
Connection to the robot failed! No suitable port found for ids [33, 34, 35, 36, 37, 41, 42, 51, 52]. These ids are missing [33, 34, 35, 36, 37, 41, 42, 51, 52] !
Attempt 3 to start the robot...
Connection to the robot failed! No suitable port found for ids [33, 34, 35, 36, 37, 41, 42, 51, 52]. These ids are missing [33, 34, 35, 36, 37, 41, 42, 51, 52] !
Attempt 4 to start the robot...
Connection to the robot failed! No suitable port found for ids [33, 34, 35, 36, 37, 41, 42, 51, 52]. These ids are missing [33, 34, 35, 36, 37, 41, 42, 51, 52] !
Attempt 5 to start the robot...
Connection to the robot failed! No suitable port found for ids [33, 34, 35, 36, 37, 41, 42, 51, 52]. These ids are missing [33, 34, 35, 36, 37, 41, 42, 51, 52] !
Could not start up the robot...
Traceback (most recent call last):
File "/home/poppy/miniconda/bin/poppy-services", line 6, in
sys.exit(main())
File "/home/poppy/miniconda/lib/python2.7/site-packages/poppy/creatures/services_launcher.py", line 179, in main
with closing(start_poppy_with_services(args)):
File "/home/poppy/miniconda/lib/python2.7/site-packages/poppy/creatures/services_launcher.py", line 38, in start_poppy_with_services
raise exc_inst
IOError: Connection to the robot failed! No suitable port found for ids [33, 34, 35, 36, 37, 41, 42, 51, 52]. These ids are missing [33, 34, 35, 36, 37, 41, 42, 51, 52] !
When I electronically remove a motor (for example the 37), I have the “good error” that tells that the ID 37 is missing. The “active link” error only happens when all the motors are detected.
Here is the configuration file, which is in /miniconda/lib/python2.7/site-packages/poppy_torso/configuration/poppy_torso.json :
{
"controllers": {
"upper_body_controller": {
"sync_read": true,
"attached_motors": [
"torso",
"head",
"arms"
],
"port": "auto"
}
},
"motorgroups": {
"head": [
"head_z",
"head_y"
],
"r_arm": [
"r_shoulder_y",
"r_shoulder_x"
],
"torso": [
"abs_z",
"bust_y",
"bust_x"
],
"l_arm": [
"l_shoulder_y",
"l_shoulder_x"
],
"arms": [
"l_arm",
"r_arm"
]
},
"motors": {
"head_y": {
"offset": 20.0,
"type": "AX-12",
"id": 37,
"angle_limit": [
-40,
8
],
"orientation": "indirect"
},
"head_z": {
"offset": 0.0,
"type": "AX-12",
"id": 36,
"angle_limit": [
-100,
100
],
"orientation": "direct"
},
"r_shoulder_x": {
"offset": 90.0,
"type": "MX-28",
"id": 52,
"angle_limit": [
-110,
105
],
"orientation": "indirect"
},
"r_shoulder_y": {
"offset": 90,
"type": "MX-28",
"id": 51,
"angle_limit": [
-155,
120
],
"orientation": "indirect"
},
"abs_z": {
"offset": 0.0,
"type": "MX-106",
"id": 33,
"angle_limit": [
-80,
80
],
"orientation": "direct"
},
"bust_y": {
"offset": 0.0,
"type": "MX-106",
"id": 34,
"angle_limit": [
-46,
23
],
"orientation": "indirect"
},
"bust_x": {
"offset": 0.0,
"type": "MX-106",
"id": 35,
"angle_limit": [
-40,
40
],
"orientation": "indirect"
},
"l_shoulder_x": {
"offset": -90.0,
"type": "MX-28",
"id": 42,
"angle_limit": [
-105,
110
],
"orientation": "indirect"
},
"l_shoulder_y": {
"offset": 90,
"type": "MX-28",
"id": 41,
"angle_limit": [
-120,
155
],
"orientation": "direct"
}
}
}