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publishedLast Updated: Oct 9, 2026HW: V4 Zipping Point
DROID_ERROR_AUTO_KIOSK_BOTTOM_WALL_TAG_NOT_DETECTED droid error auto kiosk bottom wall tag not detected droid-error-auto-kiosk-bottom-wall-tag-not-detected
In order to ensure a clean Zipping Point pickup, the Droid will not attempt to close doors on a package unless it detects the bottom wall tag. This error code indicates that the Droid was expecting to see the bottom wall tag, but it didn’t. This may happen if the platform didn’t lower all the way or if the cameras were unable to detect the wall tag due to an obstruction, dirty lens, lack of lighting, or bad calibration.
Note: At night, the center camera has no IR illumination so the videos will appear dark until the droid is inside the ZP where lights should be on. The right and left cameras have IR illumination but the videos will still be dark until the droid approaches the ZP.
Example of a clearly visible bottom wall tag with the correct orientation and the platform fully lowered.
Look at the video logs from the droid center camera. If the logs from the current mission are not available, try the previous mission or the one before that.
graph TD
were-zipping-point-lights-on{"<small><b>Step 1</b></small><br/>Question: ***Is the inside of the kiosk well-il..."}
is-camera-clean{"<small><b>Step 2</b></small><br/>Question: ***Is the camera clean and free of di..."}
power-cycle-zipping-point-lights{"<small><b>Step 3</b></small><br/>Question: Assign the 'Ranger: Power Cycle Zippi..."}
return-zipping-point-to-service["<small><b>Step 4</b></small><br/>Action: Return the zipping point to service."]
escalate-to-zipping-point-on-call{{"<small><b>Step 5</b></small><br/>Escalation: Escalate to Zipping Point On Call."}}
did-platform-lower-all-the-way{"<small><b>Step 6</b></small><br/>Question: ***Did the platform lower all the way..."}
was-magic-carpet-already-collapsed{"<small><b>Step 7</b></small><br/>Question: ***Was the magic carpet nominal befor..."}
inspect-inner-mech{"<small><b>Step 8</b></small><br/>Question: Assign the V4 Zipping Point: Inspect..."}
return-zipping-point-to-service-after-inner-mech-inspection["<small><b>Step 9</b></small><br/>Action: Return the zipping point to service."]
escalate-to-zipping-point-on-call-after-inner-mech-inspection{{"<small><b>Step 10</b></small><br/>Escalation: Escalate to Zipping Point On Call."}}
perform-platform-drawer-inspection{"<small><b>Step 11</b></small><br/>Question: Assign the Perform Go/NoGo Testhtt..."}
escalate-to-zipping-point-on-call-after-nominal-platform-forces{{"<small><b>Step 12</b></small><br/>Escalation: Escalate to Zipping Point On Call."}}
adjust-platform-tension["<small><b>Step 13</b></small><br/>Action: Assign the 'V4 Zipping Point: Adjust ..."]
is-bottom-wall-tag-correct{"<small><b>Step 14</b></small><br/>Question: ***Is the bottom wall tag in the corr..."}
replace-drawer-fiducial["<small><b>Step 15</b></small><br/>Action: Assign an ad-hoc work order titled 'R..."]
create-dirty-camera-discrepancy["<small><b>Step 16</b></small><br/>Action: Return the zipping point to service. ..."]
does-invalid-calibration-jump-true{"<small><b>Step 17</b></small><br/>Question: ***Is the calibration valid throughou..."}
return-zipping-point-service-calibrate-droid["<small><b>Step 18</b></small><br/>Action: Return the zipping point to service a..."]
escalate-to-p2-navigation-on-call{{"<small><b>Step 19</b></small><br/>Escalation: Escalate to P2 Nav On Call."}}
were-zipping-point-lights-on -->|Yes| is-camera-clean
were-zipping-point-lights-on -->|No| power-cycle-zipping-point-lights
is-camera-clean -->|Yes| did-platform-lower-all-the-way
is-camera-clean -->|No| create-dirty-camera-discrepancy
power-cycle-zipping-point-lights -->|YES| return-zipping-point-to-service
power-cycle-zipping-point-lights -->|NO| escalate-to-zipping-point-on-call
did-platform-lower-all-the-way -->|Yes| is-bottom-wall-tag-correct
did-platform-lower-all-the-way -->|No| was-magic-carpet-already-collapsed
was-magic-carpet-already-collapsed -->|Yes| perform-platform-drawer-inspection
was-magic-carpet-already-collapsed -->|No| inspect-inner-mech
inspect-inner-mech -->|Yes| return-zipping-point-to-service-after-inner-mech-inspection
inspect-inner-mech -->|No| escalate-to-zipping-point-on-call-after-inner-mech-inspection
perform-platform-drawer-inspection -->|YES| escalate-to-zipping-point-on-call-after-nominal-platform-forces
perform-platform-drawer-inspection -->|NO| adjust-platform-tension
is-bottom-wall-tag-correct -->|Yes| does-invalid-calibration-jump-true
is-bottom-wall-tag-correct -->|No| replace-drawer-fiducial
does-invalid-calibration-jump-true -->|Yes| escalate-to-p2-navigation-on-call
does-invalid-calibration-jump-true -->|No| return-zipping-point-service-calibrate-droid
style were-zipping-point-lights-on fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style is-camera-clean fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style power-cycle-zipping-point-lights fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style return-zipping-point-to-service fill:#dcfce7,stroke:#22c55e,color:#14532d
style escalate-to-zipping-point-on-call fill:#fef3c7,stroke:#f59e0b,color:#78350f
style did-platform-lower-all-the-way fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style was-magic-carpet-already-collapsed fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style inspect-inner-mech fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style return-zipping-point-to-service-after-inner-mech-inspection fill:#dcfce7,stroke:#22c55e,color:#14532d
style escalate-to-zipping-point-on-call-after-inner-mech-inspection fill:#fef3c7,stroke:#f59e0b,color:#78350f
style perform-platform-drawer-inspection fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style escalate-to-zipping-point-on-call-after-nominal-platform-forces fill:#fef3c7,stroke:#f59e0b,color:#78350f
style adjust-platform-tension fill:#dcfce7,stroke:#22c55e,color:#14532d
style is-bottom-wall-tag-correct fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style replace-drawer-fiducial fill:#dcfce7,stroke:#22c55e,color:#14532d
style create-dirty-camera-discrepancy fill:#dcfce7,stroke:#22c55e,color:#14532d
style does-invalid-calibration-jump-true fill:#dbeafe,stroke:#3b82f6,color:#1e3a5f
style return-zipping-point-service-calibrate-droid fill:#dcfce7,stroke:#22c55e,color:#14532d
style escalate-to-p2-navigation-on-call fill:#fef3c7,stroke:#f59e0b,color:#78350f
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Troubleshooting Flow
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1question
Is the inside of the kiosk well-illuminated?
CORRECT - inside of the kiosk is well-illuminatedINCORRECT - inside of the kiosk is not well-illuminated
2question
Is the camera clean and free of dirt, fog, or smudges?
This has to be extremely obvious that the lens is significantly obscuring the view of the fiducials.
CORRECT - even though the lens is a little foggy, the fiducial circles are clearly visibleINCORRECT - this lens is too dirty; the fiducial circles are not visible
3question
Assign the "Ranger: Power Cycle Zipping Point" work order. After power cycling, is the inside of the kiosk well-illuminated?
Carefully compare the dot pattern from the droid video to the image below.
CORRECT - platform is fully lowered and the whole fiducial is visible
INCORRECT - fiducial is only partially visibleINCORRECT - this is the wall tag above the bottom wall tag
7question
Was the magic carpet nominal before pickup?
Review the video from the moment where the droid passes through the lid before it attempts the pickup. Confirm that the package is sitting properly on the magic carpet and that the magic carpet is not collapsed.
CORRECT - magic carpet is not collapsed before pickupINCORRECT - magic carpet is already collapsed before pickup
Assign the "V4 Zipping Point: Adjust Platform Tension" work order.
See the Site Infrastructure Maintenance Manual (SIMM) for acceptable force ranges.
14question
Is the bottom wall tag in the correct orientation with the correct dot layout?
CORRECTINCORRECT - this is the top wall tag; the fiducial strip was installed upside down
15action
Assign an ad-hoc work order titled "Replace Zipping Point Drawer Fiducial", and let a ranger know that this needs to be done. If they do not have the required parts, tag @David Carroll.
16action
Return the zipping point to service. Create a discrepancy against the droid titled "DIRTY CAMERA", and assign the Clean Camera Lens on Droid Brain work order.
17question
Is the calibration valid throughout the whole log?
Open the log plot template "Droid Navigation - online calibration checks for SE triaging team".
Use the INVALID_CALIBRATION graph to check calibration validity.
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