Diagnose & Fix Right Arm Gripper Packet Drops on RPL Follower OpenArm

[Dozgulbas]

The follower OpenArm right arm gripper intermittently drops packets during teleoperation. Two potential causes have been identified: loose wiring and/or incorrect motor type configuration.

Step 1 — Physical Wiring Inspection:

• Remove 3D printed plastic covers around the motors on the right arm — covers are mounted with small screws, be careful not to lose them during removal
• Inspect all wiring connections on the right arm gripper for any loose or poorly seated connections
• Fix any issues found and reassemble covers

Step 2 — Extended Teleoperation Test:

• Run an extended teleoperation session to verify whether the packet drop issue persists after wiring fixes
• If problem continues, proceed to Step 3

Step 3 — Motor Type Configuration:

• The right arm gripper has two different motor types installed by the vendor — this may be causing communication issues
• Verify correct motor types are configured in the LeRobot interface config:
• config_openarm_follower.py#L92
• Update motor type definitions to match the physically installed motors and retest

Definition of Done

• Wiring inspected and any loose connections fixed
• Extended teleoperation session runs without packet drops
• If motor type mismatch confirmed, config updated and verified

[RyanTheRobothead]

Did a round of checking connections and reseating cabling, but haven't had the chance to sit down and debug.

[RyanTheRobothead]

Waiting on the rewiring task before we do more thorough debugging.