Failed to perform sync read: -3001

[MeepMoop]

Got the following error after about 20 minutes of use:

Failed to perform sync read: -3001

File "/Users/.../Code/embodied-mujoco-ant/__venv/lib/python3.12/site-packages/dynamixel_sdk/group_sync_read.py", line 140, in getData
    return DXL_MAKEDWORD(DXL_MAKEWORD(self.data_dict[dxl_id][address - self.start_address + 0],
                                      ~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
IndexError: list index out of range

[lupusorina]

It is a driver bug, still investigating

[lupusorina]

Fixed in this PR in the DynamixelSDK, but that PR is not merged yet. See better fix below.

[lupusorina]

When the dynamixel driver communicates, it fills a buffer, but if there was a timeout, the buffer would not be cleared. So when there was a new communication attempt after this timeout, the buffer would contain some data from the previous attempt, which was parsed incorrectly.

Fixed in the motor_controller.py https://github.com/Openmind-Research-Institute/embodied-mujoco-ant/blob/ae24c9eddd27006e59fd0336cc6db7522e3b339b/embodied_ant_env/motor_controller.py#L212