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Troubleshooting

Missing Runtime Assets

Symptoms: assets/mjcf/.../model.xml not found, hand_landmarker.task not found, missing recordings

Fix:

python scripts/setup/download_assets.py --only mjcf mediapipe
python scripts/setup/download_assets.py --only examples

--hand both Fails with Control Backend

Cause: Bi-hand execution is only supported in viewer mode.

Fix:

  • Use --backend viewer for --hand both
  • Use single-hand configs when targeting sim or real

pico Does Not Receive Frames

Checklist:

  • The PICO Bridge PC receiver package is installed
  • The PICO Bridge headset app is running and connected to the PC receiver
  • --pico-host, --pico-port, and --pico-advertise-ip match your network setup
  • Timeout is long enough (--pico-timeout)

Setup command:

pip install -e .

Real Backend Cannot Start

Checklist:

  • LinkerHand SDK exists at third_party/linkerhand-python-sdk
  • SDK Python dependencies are installed
  • Transport settings match your device setup
  • model_family resolves correctly for the selected hand

Setup command:

bash scripts/setup_linkerhand_sdk.sh

Config Loader Rejects a YAML File

Common causes:

  • Legacy vector schema keys still present (human_vector_pairs, origin_link_names, etc.)
  • Removed sections still present (position_constraints, pinch)
  • Invalid backend or transport values
  • Non-positive control or simulation rate

Compare against existing files under configs/retargeting/ and see Configuration for schema details.