JTAG BeagleBone Black interface with Olimex-ARM-USB-OCD-H


I am trying to use JTAG using BeagleBone Black interfaced with Olimex-ARM-USB-OCD-H. I am pretty confident that the connection pins are set right, however, whenever I do the configuration on my terminal such as:
sudo openocd -f interface/ftdi/olimex-arm-usb-ocd-h.cfg -c “transport select jtag; adapter_khz 1000” -f target/am335x.cfg

I get the following error:
Open On-Chip Debugger 0.10.0
Licensed under GNU GPL v2
For bug reports, read
OpenOCD: Bug Reporting
adapter speed: 100 kHz
Info : clock speed 100 kHz
Info : JTAG tap: am335x.jrc tap/device found: 0x2b94402f (mfg: 0x017 (Texas Instruments), part: 0xb944, ver: 0x2)
Info : JTAG tap: am335x.dap enabled
Error: Could not initialize the APB-AP

Telnet: when I try to “halt” or read/write to any address in memory such as “mdw 0x00020000” I get
“target not examined yet”

Has anyone encountered this error before? if so, how did you debug it?

Thank you in advance.