Troubleshooting

Control Laptop Cannot Reach Policy Server

Check that the server is still running on the 4090 and that the control laptop can reach port 8000:

python -c "import socket; s=socket.create_connection(('<4090_ip>', 8000), timeout=3); s.close(); print('reachable')"

NUC TCP Works but Robot State Fails

This usually means the ZeroRPC server is alive but the NUC-local Franka/Polymetis client is not running or crashed. Check the NUC terminal logs and then launch through:

python scripts/tests/check_nuc_control.py --host 192.168.4.4 --launch

Cameras Missing or Swapped

Check the camera serials in:

/home/kindred/Desktop/repo/droid/droid/misc/parameters.py

Then inspect robot_camera_views.png after the first rollout step.

CHTC Job Cannot Find uv

Run ./pack_openpi.sh before submitting and confirm openpi/bin/uv is inside the tarball.

CHTC ImportError: libGL.so.1

Use headless OpenCV dependencies in the job environment. GUI OpenCV wheels are a common cause on headless GPU nodes.

Tyro Boolean Flag Error

Use:

--no-wandb-enabled

Do not use:

--wandb-enabled=false

Robot Moves in the Wrong Direction

Check action semantics before changing networking or camera code. The DROID runtime names the first seven action dimensions joint_velocity, but the deployment path treats them as normalized joint deltas. Training labels must match that execution meaning.