read crc: 251, computed crc: 219 data: [255, 255, 32, 4, 0, 0, 0, 251]

When I run the program and ask open_duck to walk, the following error occurs: open_duck cannot walk. How to solve this problem? I tried replacing the corresponding servo with an error, but it still reported an error.

(venv_duck) raspios@OPENDUCKMINI-V108:~/open_duck_mini_ws/Open_Duck_Mini_Runtime/scripts $ python v2_rl_walk_mujoco.py --onnx_model_path ~/open_duck_mini_ws/Open_Duck_Mini/BEST_WALK_ONNX_2.onnx
pygame 2.6.0 (SDL 2.28.4, Python 3.11.2)
Hello from the pygame community. https://www.pygame.org/contribute.html
Done parsing args
dict_keys(['left_hip_yaw', 'left_hip_roll', 'left_hip_pitch', 'left_knee', 'left_ankle', 'neck_pitch', 'head_pitch', 'head_yaw', 'head_roll', 'right_hip_yaw', 'right_hip_roll', 'right_hip_pitch', 'right_knee', 'right_ankle'])
d_coefficient: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
d_coefficient: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
turn on : low KPS set
turn on : init pos set
d_coefficient: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
turn on : high kps
Loaded joystick with 6 axes.
[Poly ref data] Processing ...
[Poly ref data] Done processing
Loaded: beep1.wav
Loaded: happy1.wav
Loaded: lamp.wav
Loaded: lamp3.wav
Loaded: motor.wav
Loaded: beep2.wav
Loaded: lamp2.wav
Loaded: happy2.wav
Loaded: happy3.wav
Done instantiating RLWalk
Starting
UNPAUSE
read crc: 226, computed crc: 98 data: [255, 255, 32, 4, 0, 114, 7, 226]
Checksum error
read crc: 226, computed crc: 98 data: [255, 255, 32, 4, 0, 114, 7, 226]
Checksum error
read crc: 226, computed crc: 98 data: [255, 255, 32, 4, 0, 114, 7, 226]
Checksum error
Parsing error
read crc: 251, computed crc: 219 data: [255, 255, 32, 4, 0, 0, 0, 251]
Checksum error
read crc: 251, computed crc: 219 data: [255, 255, 32, 4, 0, 0, 0, 251]
Checksum error
Parsing error
Parsing error

thread '' panicked at /root/.cargo/git/checkouts/rustypot-414449c1da94f63c/c8b8223/src/protocol/mod.rs:77:9:
assertion failed: self.is_input_buffer_empty(port)?
stack backtrace:
0: rust_begin_unwind
1: core::panicking::panic_fmt
2: core::panicking::panic
3: rustypot::protocol::Protocol::send_instruction_packet
4: >::sync_read
5: rustypot::device::feetech_sts3215::sync_read_present_speed
6: rustypot::IO::__pymethod_read_present_velocity__
7: pyo3::impl_::trampoline::trampoline
8: rustypot:: for pyo3::impl_::pyclass::PyClassImplCollector>::py_methods::ITEMS::trampoline
9: _PyEval_EvalFrameDefault
10: PyEval_EvalCode
11:
12:
13:
14: _PyRun_SimpleFileObject
15: _PyRun_AnyFileObject
16: Py_RunMain
17: Py_BytesMain
18: __libc_start_call_main
at ./csu/../sysdeps/nptl/libc_start_call_main.h:58:16
19: __libc_start_main_impl
at ./csu/../csu/libc-start.c:360:3
20: _start
note: run with `RUST_BACKTRACE=1` environment variable to display a backtrace
Traceback (most recent call last):
File "/home/raspios/open_duck_mini_ws/Open_Duck_Mini_Runtime/scripts/v2_rl_walk_mujoco.py", line 463, in
rl_walk.run()
File "/home/raspios/open_duck_mini_ws/Open_Duck_Mini_Runtime/scripts/v2_rl_walk_mujoco.py", line 301, in run
obs = self.get_obs()
^^^^^^^^^^^^^^
File "/home/raspios/open_duck_mini_ws/Open_Duck_Mini_Runtime/scripts/v2_rl_walk_mujoco.py", line 147, in get_obs
dof_pos = self.hwi.get_present_positions(
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/home/raspios/open_duck_mini_ws/Open_Duck_Mini_Runtime/scripts/mini_bdx_runtime/rustypot_position_hwi.py", line 165, in get_present_positions
present_positions = self.io.read_present_position(
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
pyo3_runtime.PanicException: assertion failed: self.is_input_buffer_empty(port)?