VR dataset collection error

[liziwenshuai]

Hi, I miss another problem during VR data collection process, when I use VR to tele operate the arm, it looks fine for sometime, then it shut down suddenly and give me this error.

Traceback (most recent call last):
File "/home/XLeRobot/Xlerobot/lerobot/src/lerobot/record.py", line 573, in
main()
File "/home/XLeRobot/Xlerobot/lerobot/src/lerobot/record.py", line 569, in main
record()
File "/home/XLeRobot/Xlerobot/lerobot/src/lerobot/configs/parser.py", line 225, in wrapper_inner
response = fn(cfg, *args, **kwargs)
File "/home/XLeRobot/Xlerobot/lerobot/src/lerobot/record.py", line 508, in record
record_loop(
File "/home/XLeRobot/Xlerobot/lerobot/src/lerobot/datasets/image_writer.py", line 36, in wrapper
raise e
File "/home/XLeRobot/Xlerobot/lerobot/src/lerobot/datasets/image_writer.py", line 29, in wrapper
return func(*args, **kwargs)
File "/home/XLeRobot/Xlerobot/lerobot/src/lerobot/record.py", line 363, in record_loop
observation = robot.get_observation()
File "/home/XLeRobot/Xlerobot/lerobot/src/lerobot/robots/xlerobot/xlerobot.py", line 498, in get_observation
left_arm_pos = self.bus1.sync_read("Present_Position", self.left_arm_motors)
File "/home/XLeRobot/Xlerobot/lerobot/src/lerobot/motors/motors_bus.py", line 1084, in sync_read
ids_values, _ = self._sync_read(
File "/home/XLeRobot/Xlerobot/lerobot/src/lerobot/motors/motors_bus.py", line 1116, in _sync_read
raise ConnectionError(f"{err_msg} {self.packet_handler.getTxRxResult(comm)}")
ConnectionError: Failed to sync read 'Present_Position' on ids=[1, 2, 3, 4, 5, 6] after 1 tries. [TxRxResult] There is no status packet!
FATAL: exception not rethrown

[liziwenshuai]

This happends when I try to reset the position using quest3 button as well.

[hyy02]

Can you show me how your XLeRobot hardware is assembled?

[liziwennba]

Yes, below are two pictures. I have taken.