Troubleshooting

An attachment does not fit

Print one cell and one attachment base using the same material and profile. Check for elephant's foot, warping, or excess material before modifying the CAD. If sanding is required, apply it consistently and record it.

A threaded component binds

Remove stringing and debris, then test the matching calibration piece. Keep the part aligned with the thread axis and do not force initial engagement. Record sanding or lubrication because either can change task resistance.

An attachment moves during a trial

Stop if continuation is unsafe. Preserve the trial result, describe the displacement in notes, and reseat the attachment before continuing. For repeated release, verify cell tolerances and mounting orientation.

A printed part breaks

Record the trial as it occurred. Photograph the damage when useful, replace the component with the same print profile, and note the replacement. Do not substitute an unreported rerun.

Completion time appears as a date

Format the spreadsheet column as a plain number and enter decimal seconds without units. Use 12.9, not 12.9 s or a clock value.

Failed trials have no time

This is expected. completion_time_s is only populated for successful trials. Use outcome=timeout for a trial that reaches the time limit.

Simulation geometry loads at the wrong scale

Verify the asset units and the loader's unit conversion. Check both visual and collision geometry before changing the global scene scale.

A simulation joint moves in the wrong direction

Inspect the joint axis, parent-child order, and initial pose. Compare the full motion with the physical mechanism, not only the rendered rest configuration.

Simulation contact is unstable

Begin with one environment and a conservative timestep. Inspect collision geometry, penetration at reset, solver settings, drive gains, and mass ratios. Treat the supplied physical properties as nominal rather than identified values.

An Isaac Lab asset cannot be found

The simulation repository uses Git submodules. From the repository root, initialize or update them with:

git submodule update --init --recursive

The dependencies/HiveBoard, dependencies/curobo, and dependencies/duatic_dynaarm directories should then contain their respective repositories.

An Isaac Lab task is not registered

Run the environment-listing script inside the project environment:

uv run python scripts/list_envs.py

Use the exact Isaac-HiveBoard-* identifier printed by the script. If imports fail, run uv sync from the repository root and continue using uv run for subsequent commands.