Reference

Troubleshooting

Repose reports failures as data. Find the status you're seeing, then the usual cause.

Startup

"Missing required `chain` configuration"	Every robot-aware task needs `chain` (and planners and collision tasks `collision_model`). There is no default robot.
Unknown field error	A typo or a key from another version. Configs reject unknown keys.
Preset joint count mismatch	The task's `N` differs from the preset's DOF.
URDF import fails	Read the message: unsupported joint or geometry, wrong `N`, too many shapes for `M`. See Import a URDF.

Planning

`InvalidStart`	The robot's current state is out of limits or in collision in the captured scene. Often a scene obstacle overlapping the robot, a too-large safety margin, or a missing exclusion for a held part.
`InvalidGoal`	Same, for the goal. Check it with `check_configuration` (Collision checking).
`InvalidRequest`	Bad scene geometry, attached shape on a non-existent frame, or exclusions naming missing IDs.
`Exhausted`	Budget or capacity ran out. Raise budgets or `max_nodes`, increase `step_size`, or use RRT-Connect.
`CapacityExceeded`	Path doesn't fit 32 waypoints. Usually a very cluttered scene; try another planner.
Path accepted, rejected downstream	The scene or exclusions changed after planning (`scene_revision` differs). Republish both consistently and replan.

Kinematics

IK `MaxIterationsReached`	Unreachable target, bad seed or joint limits. Seed from the current state, retry from other seeds, verify the target against FK of a known configuration.
Pose looks mirrored or offset	Wrong axis sign or origin in the chain, or a missing tool offset. Compare FK against the pendant.
Servo `SingularityDamped`	Near a singularity: the tool deviates from the command by design. Move away or plan instead.

Timing

`InvalidInput`	Zero or negative limit, wrong joint kind in a limit entry, non-zero waypoint velocity under a rest-to-rest profile, or a fixed duration too short.
`CapacityExceeded`	Increase the trajectory capacity or `sample_period`.
Cartesian `ZoneExceeded` / `NoContinuousMotion`	Zone too small for the corner at those limits. Enlarge it or make the waypoint a stop.

Execution

Controller in `Fault`	Tracking error over `tracking_error_limit`, or state older than `state_timeout`. Usually a bridge not publishing `joint_state`, or trajectory limits the robot can't follow. Check `max_tracking_error`.
Robot doesn't move, no error	Bridge built without `control`, or `allow_control`/`allow_motion` off; or `motion_allowed` false (UR: Remote Control not selected, arm not powered).
Session command refused	Not in control yet, another command in flight, or gates off. See Session lifecycle.
Gripper `Fault`	IO not `Ready`, contradictory sensors, or no sensor confirmation within `motion_timeout`.