I mounted the distance sensor in rapiro like the instructions here:

http://www.rapiro.com/mounting-distance-sensor-on-rapiro/

Now when I turned on nothing happened then I uploaded the
https://github.com/oga00000001/RAPIRO/archive/b1368d6efa66485bb0f48916a013a517f28a9018.zip
I uploaded in the COM5 detected by Windows 7 like "Arduino Uno" and nothing happens also
and I made this tests with different power supplies:

With the power supply suggested in the site:

6V 4A
WSU060-4000 Mouser Electronics (Mouser Part #:553-WSU060-4000)(confirmed without a RPi)

The position of rapiro is ugly like contortionist:

http://postimg.org/image/oa1kqye1l/

Here emits a sound like click, click forever and ever the servos and stucked in that position shown in the picture.But the servos are not glued you can mtouch or move with your hands.

With a power supply of 12 V 10A:

The position is better when you turn on more aligned:

http://postimg.org/image/c2vhwx61r/

Here emits a buzzing sound and here the servos are totally glued there.

In both cases I have the power supply conected and via USB 3 rapiro in my computer at same time.
The computer detect perfect, arduino the same and the eyes of rapiro are blue. When I click upload in Arduino allok write the robot turned off for a second and then automatic is turned again but does nothing I tried to adjust the:

int trim[MAXSN] = { -5, // Head yaw
10, // Waist yaw
0, // R Sholder roll
0, // R Sholder pitch
0, // R Hand grip
0, // L Sholder roll
0, // L Sholder pitch
0, // L Hand grip
0, // R Foot yaw
0, // R Foot pitch
0, // L Foot yaw
0}; // L Foot pitch

I put there data like you see and nothing happens with both power supplies.
If someone can help me to know what is happening or why is not working rapiro or
what can I do to solve?
Of course I never tested before rapiro before mount the distance sensor.
Thank you