Cautions & Troubleshoot

Here we describe some issues we may face and how to resolve them while doing a demo:

• Arm joint not responding, silently!

  • description: the board associated to that joint that silently does not respond, so it does not throw any hardware fault error.

  • how to solve: Restart the robot and start performing the demo after that again.

  • associated issue: https://github.com/robotology/icub-support/issues/732

• User position:

  • when starting the teleoperation scenario, try to stay similar to the initial position of the robot (initially, the error of teleoperation is high).
  • do not put the hands very close to your body, the robot arms may touch its torso.

• Occlusion of the Oculus sensors:

  • description: if the front of the oculus sensors are occluded, the tracking error increases and it may happen the robot hands shakes.

  • how to solve: free the space in front of the Oculus sensor.

• Xsens calibration:

if you are using Xsens for teleoperating the robot, ensure Xsens is calibrated with the following parameters:

• parameter: default-calibration-type : value: NposeWalk

• parameter: minimum-calibration-quality-required : value: Good you can check these values in wearables/app/XsensSuitWearableDevice.xml.

• A module is not running using yarpmanager:

if a module is not running correctly using yarpmanager; run that module with the same Parameters defined in the yarpmanager in a terminal opened in the defined Host of yarpmanager. Later, you can use yarpmanger to connect the ports.