diff --git a/CMakeLists.txt b/CMakeLists.txt
index c7488c44..f3ea439d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,7 @@ cmake_minimum_required(VERSION 3.5)
 set(CMAKE_CXX_STANDARD 14)
 
 project(walking-teleoperation
-  VERSION 1.3.5)
+  VERSION 1.3.6)
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 include(WalkingTeleoperationFindDependencies)
diff --git a/modules/Oculus_module/src/OculusModule.cpp b/modules/Oculus_module/src/OculusModule.cpp
index c6664862..245a613f 100644
--- a/modules/Oculus_module/src/OculusModule.cpp
+++ b/modules/Oculus_module/src/OculusModule.cpp
@@ -7,6 +7,7 @@
 #include <yarp/os/LogStream.h>
 #include <yarp/os/Property.h>
 #include <yarp/os/Stamp.h>
+#include <yarp/conf/version.h>
 
 #include <iDynTree/EigenHelpers.h>
 #include <iDynTree/YARPConversions.h>
@@ -17,6 +18,21 @@
 
 #include <functional>
 
+inline bool OculusModuleFrameExists(yarp::dev::IFrameTransform* frameTransformInterface,
+    const std::string& frameID)
+{
+    bool frameExists = false;
+#if YARP_VERSION_MAJOR == 3 && YARP_VERSION_MINOR < 11
+    frameExists = frameTransformInterface->frameExists(frameID);
+#else
+    bool frameExistsOk = false;
+    bool frameExistsReturnValue = false;
+    frameExistsReturnValue = frameTransformInterface->frameExists(frameID, frameExistsOk);
+    frameExists = frameExistsOk && frameExistsReturnValue;
+#endif
+    return frameExists;
+}
+
 Eigen::Ref<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>> getRotation(yarp::sig::Matrix& m)
 {
 
@@ -778,7 +794,7 @@ bool OculusModule::runningModule()
 
     if (m_useOpenXr)
     {
-        if (!m_frameTransformInterface->frameExists(m_headFrameName))
+        if (!OculusModuleFrameExists(m_frameTransformInterface,m_headFrameName))
         {
             yError() << "[OculusModule::runningModule] The frame named " << m_headFrameName
                      << " does not exist.";
@@ -900,13 +916,13 @@ bool OculusModule::getTransforms()
     if (!m_useXsens)
     {
         // check if everything is ok
-        if (!m_frameTransformInterface->frameExists(m_rootFrameName))
+        if (!OculusModuleFrameExists(m_frameTransformInterface, m_rootFrameName))
         {
             yError() << "[OculusModule::getTransforms] No " << m_rootFrameName << " frame.";
             return false;
         }
 
-        if (!m_frameTransformInterface->frameExists(m_headFrameName))
+        if (!OculusModuleFrameExists(m_frameTransformInterface, m_headFrameName))
         {
 
             if (m_useOpenXr)
@@ -993,14 +1009,14 @@ bool OculusModule::getTransforms()
     if (!m_useXsens && !m_useIFeel)
     {
 
-        if (!m_frameTransformInterface->frameExists(m_leftHandFrameName))
+        if (!OculusModuleFrameExists(m_frameTransformInterface, m_leftHandFrameName))
         {
 
             yError() << "[OculusModule::getTransforms] No " << m_leftHandFrameName << " frame.";
             return false;
         }
 
-        if (!m_frameTransformInterface->frameExists(m_rightHandFrameName))
+        if (!OculusModuleFrameExists(m_frameTransformInterface,m_rightHandFrameName))
         {
             yError() << "[OculusModule::getTransforms] No " << m_rightHandFrameName << " frame.";
             return false;
diff --git a/modules/OpenXRJoypad_module/src/OpenXRJoypadModule.cpp b/modules/OpenXRJoypad_module/src/OpenXRJoypadModule.cpp
index d42d3b28..51b82bb0 100644
--- a/modules/OpenXRJoypad_module/src/OpenXRJoypadModule.cpp
+++ b/modules/OpenXRJoypad_module/src/OpenXRJoypadModule.cpp
@@ -36,6 +36,22 @@
 #include <OpenXRJoypadModule.hpp>
 #include <Utils.hpp>
 
+inline bool OpenXRJoypadModuleFrameExists(yarp::dev::IFrameTransform* frameTransformInterface,
+    const std::string& frameID)
+{
+    bool frameExists = false;
+#if YARP_VERSION_MAJOR == 3 && YARP_VERSION_MINOR < 11
+    frameExists = frameTransformInterface->frameExists(frameID);
+#else
+    bool frameExistsOk = false;
+    bool frameExistsReturnValue = false;
+    frameExistsReturnValue = frameTransformInterface->frameExists(frameID, frameExistsOk);
+    frameExists = frameExistsOk && frameExistsReturnValue;
+#endif
+    return frameExists;
+}
+
+
 class RobotControlHelper
 {
     yarp::dev::PolyDriver m_robotDevice; /**< Main robot device. */
@@ -989,9 +1005,9 @@ struct OpenXRJoypadModule::Impl
                                      yarp::sig::Matrix& headOpenXR_T_rightHandOpenXR) {
             bool ok = true;
 
-            ok = ok && this->frameTransformInterface->frameExists(this->headFrameName);
-            ok = ok && this->frameTransformInterface->frameExists(this->leftHandFrameName);
-            ok = ok && this->frameTransformInterface->frameExists(this->rightHandFrameName);
+            ok = ok && OpenXRJoypadModuleFrameExists(this->frameTransformInterface, this->headFrameName);
+            ok = ok && OpenXRJoypadModuleFrameExists(this->frameTransformInterface, this->leftHandFrameName);
+            ok = ok && OpenXRJoypadModuleFrameExists(this->frameTransformInterface, this->rightHandFrameName);
 
             ok = ok
                  && this->frameTransformInterface->getTransform(this->rightHandFrameName, //