Troubleshooting & Checklists故障排查与检查清单

13. Common issues13. 常见问题

No serial-port permission串口没有权限

If Permission denied appears, rerun the chmod commands in section 4.2 and confirm that the device indices have not changed.如果出现 Permission denied，重新执行第 4.2 节中的 chmod 命令，并确认设备没有重新编号。

Left and right wrist camera views are swapped左右腕相机画面相反

Run lerobot-find-cameras opencv again instead of relying on indices from the previous startup. Update the camera parameters in teleoperation, data-collection and evaluation commands accordingly.重新运行 lerobot-find-cameras opencv，不要依赖上一次启动的编号。同步修改遥操作、数据采集和评估命令中的相机参数。

Camera reference files cannot be found相机参考文件找不到

First check in BREE/camera_reference/ that the corresponding reference.json and reference.jpg actually exist. Do not run save-reference merely to bypass the error, as this may save an incorrect installation position as the new baseline.先检查 BREE/camera_reference/ 中是否确实存在对应的 reference.json 和 reference.jpg。不要为了绕过报错直接运行 save-reference，否则可能把错误安装位置保存为新基准。

Arm poses do not match after returning to the H pose机械臂回到 H 位后姿态不一致

Stop real-robot evaluation and check the port mapping, calibration IDs, calibration files and servo installation orientation in that order. Do not modify task reference images to conceal an arm calibration problem.停止实机评估，依次检查端口映射、校准 ID、校准文件和舵机安装方向。不要通过修改任务参考图来掩盖机械臂校准问题。

A task path in a command does not exist命令中的任务路径不存在

The YOUR_NAME, YOUR_DATASET, YOUR_TASK, YOUR_RUN and PATH_TO_RDT_CHECKPOINT values in this document are placeholders that must be replaced. Before running, use test -e <路径> or ls <路径> to confirm that the actual files exist.本文档中的 YOUR_NAME、YOUR_DATASET、YOUR_TASK、YOUR_RUN 和 PATH_TO_RDT_CHECKPOINT 都是必须替换的占位符。运行前先用 test -e <路径> 或 ls <路径> 确认实际文件存在。