Robots that feel right.
San Francisco, CA
Joined April 2025
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Enigma retweeted
What happens if you connect a hundred AI-powered robots to the internet and just let people give them any instructions they want? @Enigma_AI founder @j0nathanj joins us to talk about his experience deploying a fleet of robots on the internet, keeping them operational, and watching people truly test the generality and robustness of frontier robotics models.
Watch Episode 109 of RoboPapers with @chris_j_paxton and @ruijie_sg today!
And now we’re sharing the rabbit hole.
The race condition, what we learned about the STS3215, the failures, the debugging techniques, and the tooling we built around all of it.
Full research:
enigma.inc/posts/sts3215-ser…
Tools:
github.com/Enigma-Incorporat…
Have fun breaking your servos.
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But the race condition was only one part of the rabbit hole.
Running a large fleet of these arms pushed us into understanding the STS3215 way beyond what we originally intended:
Failure modes, calibration, bus behavior, recovery, timing quirks, and a bunch of undocumented behavior.
So we wrote it all down.
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It wasn’t.
We found an undocumented reboot command and a race condition in the servos’ wake-up timing.
Reboot them together → catch one while the others are still waking up → rewrite its ID → repeat.
Boom. Turns out you can just add features to products yourself. Turning bugs to features..
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It started with a stupid problem.
Every new STS3215 servo ships with the same ID.
Put 6 of them on an assembled robotic arm and they all answer as the same device.
We asked FeeTech how to assign them individually after assembly.
They told us it was impossible.
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Thank you Naomi! Did you get to play around with robots.online when it was up? If not - you know where to find us, we’ll figure something out ;)
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