FAQ¶
Warnings¶
"FootPedal not available - Continuing WITHOUT soft e-stop"¶
The foot switch is optional. If it is not connected, or if the udev rule has not been installed, Raiden prints this warning and continues normally. To enable it:
Then unplug and replug the foot switch. See Safety for details.
"Warning: CAN interface <iface> exists but is not UP"¶
The CAN interface was detected but is in a DOWN state. Bring all interfaces up with the reset script:
This sets each detected CAN interface to 1 Mbit/s and brings it UP. You may need to run it after every reboot if your CAN interfaces are not configured to come up automatically.
"No CAN interfaces found"¶
No can* interfaces were detected at all. Possible causes:
- The CAN adapter is not connected or not powered.
- The kernel module is not loaded - try
sudo modprobe canandsudo modprobe can_raw. - Run
ip link showto list all network interfaces and check whether anycan*entries appear.
"Warning: bimanual_transform not found in calibration; right wrist extrinsics will be in right_arm_base frame"¶
The calibration_results.json file does not contain the
bimanual_transform entry that maps the right-arm base into the left-arm
base frame. This is computed during calibration when both wrist cameras are
calibrated together. Re-run rd calibrate with both wrist cameras present
in ~/.config/raiden/camera.json.
"Warning: calibration_results.json not found"¶
The converter could not find the calibration file. Make sure calibration has
been run and the result was saved inside the recording directory as
calibration_results.json.
"Warning: Only N poses recorded (minimum: M)"¶
Too few calibration poses were recorded before quitting. Move the robot to
more diverse positions and re-run rd record_calibration_poses. At least 5
poses are required; 7–10 is recommended.
"Warning: cameras did not produce a first frame within N s: <names>"¶
One or more cameras failed to deliver their first frame before the policy
server timeout. Check that the cameras are powered, connected, and listed
correctly in ~/.config/raiden/camera.json. For RealSense cameras, verify the
serial number with rd list_devices.
"Warning: robot observation failed"¶
A single robot joint read failed during recording. This is usually transient
(CAN bus glitch) and the frame is skipped. If it happens frequently, check
CAN bus health with rd list_devices and reset interfaces with
scripts/reset_all_can.sh.
Shell scripts¶
scripts/reset_all_can.sh¶
Resets all detected CAN interfaces to 1 Mbit/s and brings them UP. Run this after every reboot if the arms are not responding:
scripts/install_footpedal_udev.sh¶
Installs a udev rule so the PCsensor USB foot switch is accessible without
sudo. Run once after first connecting the foot switch:
Then unplug and replug the device. See Safety.
scripts/install_spacemouse_udev.sh¶
Installs a udev rule for all 3Dconnexion SpaceMouse devices (vendor ID
256f) so they are accessible without sudo. Run once:
Then unplug, replug, and log out/in (or reboot) for the group change to take effect. See SpaceMouse setup.
scripts/install_ffs.py¶
Clones Fast Foundation Stereo
into third_party/:
Then download the pretrained weights from the
Fast Foundation Stereo repository
and place the *.pth file in ~/.config/raiden/weights/.
See Installation - Fast Foundation Stereo.
sudo apt-get install tensorrt fails with Python version conflict¶
The tensorrt apt meta-package depends on python3-libnvinfer which requires
Python < 3.11. Install the C++ tools directly instead, then add the Python
bindings via pip:
sudo apt-get install --no-install-recommends libnvinfer-bin libnvinfer-dev libnvinfer-headers-dev
uv add tensorrt
libnvinfer-bin provides trtexec and uv add tensorrt installs the Python
bindings into the project environment.