{ "name": "check-devices", "run": "/home/ubuntu/.local/state/g1vm/runs/20261025T032613Z-check-devices-kvm", "started_utc": "2026-10-25T03:26:13Z", "host": "g1-ci-11.us-central1-a.c.lockinweb-487307.internal", "host_machine": "Linux aarch64", "accel": "kvm", "cpu": "host", "smp": 8, "mem": "16G", "qemu": "QEMU emulator version 11.1.2", "image": "/nix/store/gqpv86aa12yqwz8w2nyxfzzsf6h6gq34-g1-image-g1-nx-j6.2", "overlay": "/nix/store/axmxsd8j9hj2sq5m0d7idjbhjnazisr1-g1-virt-overlay-5.15.148-tegra", "boot_path": "uefi", "disk": "nvme", "disk_base": "/nix/store/axmxsd8j9hj2sq5m0d7idjbhjnazisr1-g1-virt-overlay-5.15.148-tegra/g1-virt-overlay.qcow2", "check": "devices", "reason": "devices check done", "wall_s": 199.2, "qemu_rc": 0, "kernel_on_qemu_line": false, "started_epoch": 1792898773.3552914, "events_s": { "lan_up": 0.1, "site_up": 0.1, "grippers_up": 0.2, "first_output": 0.5, "uefi_firmware": 0.5, "l4t_direct_boot": 6.8, "stub_cbootargs": 7.0, "efi_initrd": 7.2, "linux_version": 7.6, "run_init": 7.9, "root_mounted": 10.0, "systemd_banner": 10.0, "getty_banner": 14.6, "login_prompt": 14.6, "ssh_up": 103.0, "devices_pc2_done": 36.0, "probe_done": 194.7, "devices_site_done": 102.7, "nic_up": 118.6, "probe_built": 130.8, "devices_dds_done": 197.2, "guest_synced": 197.4, "devices_done": 198.1 }, "lan": { "pc1": "/nix/store/ypsyg1zr2y5havigwkx8flsvjrm0sx3q-nixos-vm/bin/run-pc1-vm", "pc1_ssh_port": 39373, "pc2_nic": { "address": "192.168.123.164", "interface": "enP8p1s0", "mac": "52:54:00:12:01:64" } }, "site_net": { "site_vm": "/nix/store/57k43gbh6wwbs6zklfnr7hsnjbxqabxg-nixos-vm/bin/run-site-vm", "site_ssh_port": 36221, "pc2": { "address": "192.168.90.66", "interface": "wlx94ba06f70f6c", "mac": "94:ba:06:f7:0f:6c", "profile": "site-wifi" } }, "identity": { "disk": "/home/ubuntu/.local/state/g1vm/runs/20261025T032613Z-check-devices-kvm/disk.qcow2", "allow": [ "/nix/store/p10gvabbjq0mvjcpl5yjk99qg4bhdwrq-g1vm-0.2.0/libexec/g1vm/allow/boot.allow", "/nix/store/p10gvabbjq0mvjcpl5yjk99qg4bhdwrq-g1vm-0.2.0/libexec/g1vm/allow/devices.allow", "/nix/store/p10gvabbjq0mvjcpl5yjk99qg4bhdwrq-g1vm-0.2.0/libexec/g1vm/allow/site.allow", "/nix/store/p10gvabbjq0mvjcpl5yjk99qg4bhdwrq-g1vm-0.2.0/libexec/g1vm/allow/dds.allow" ], "over": "/nix/store/axmxsd8j9hj2sq5m0d7idjbhjnazisr1-g1-virt-overlay-5.15.148-tegra/g1-virt-overlay.qcow2", "ok": true, "changed": 115, "undeclared": [], "unused": 21, "seconds": 11, "report": "/home/ubuntu/.local/state/g1vm/runs/20261025T032613Z-check-devices-kvm/identity.txt", "synced": true }, "devices": { "pc2": { "sections": { "CPU": [ "8", "CPU part\t: 0xd8e" ], "MEM": [ "MemTotal: 16348288 kB" ], "LSBLK": [ "zram0 disk", "zram1 disk", "zram2 disk", "zram3 disk", "zram4 disk", "zram5 disk", "zram6 disk", "zram7 disk", "nvme0n1 disk", "nvme0n1p1 part 71d8b760-717d-42d8-82dc-832a284dc6d3", "nvme0n1p2 part 55a7ca3a-a6a8-4bb5-ab19-393a45494a00", "nvme0n1p3 part 02d975fd-fba2-4c4b-b484-3c04a1f18a34", "nvme0n1p4 part 668bcb14-bdbc-4f31-8380-3a4f3577866a", "nvme0n1p5 part 01a4e74c-7eb4-4d09-8f87-0c14f160ff18", "nvme0n1p6 part 12303b08-cba4-42ad-a2fe-5408dc205a47", "nvme0n1p7 part 682c162b-bae2-4561-9374-2336f9c92924", "nvme0n1p8 part 6d2a7aec-661d-46df-a91d-2a2dd651b12e", "nvme0n1p9 part 7a2601a5-7133-459c-b81d-da0fdfcbcd4f", "nvme0n1p10 part 715217db-3724-4a13-a415-1850d88d2b74", "nvme0n1p11 part 365f32c6-9958-4454-ba7f-b628dbfdea1c", "nvme0n1p12 part 73865715-ffbd-47f0-9075-7107613e2b75", "nvme0n1p13 part 24fa7e71-fc5f-4b7d-929f-2a0e7ab92a37", "nvme0n1p14 part 2e2bc804-9d75-467f-96da-847e2fde5716", "nvme0n1p15 part 1be15857-4e69-44a8-a8a8-813a44d30b09" ], "ROOT": [ "/dev/nvme0n1p1" ], "CMDLINE": [ "root=PARTUUID=71d8b760-717d-42d8-82dc-832a284dc6d3 rw rootwait rootfstype=ext4 mminit_loglevel=4 console=ttyTCU0,115200 firmware_class.path=/etc/firmware fbcon=map:0 nospectre_bhb video=efifb:off console=tty0 console=ttyAMA0,115200" ], "INITRD": [ "dmesg: [ 0.053393] Unpacking initramfs...", "dmesg: [ 0.248913] Freeing initrd memory: 15476K", "dmesg: [ 2.508110] Switching from initrd to actual rootfs" ], "EFIVARS": [ "38" ], "SLOTS": [ "Current version: 0.0.2", "Capsule update status: 0", "Current bootloader slot: A", "Active bootloader slot: A", "num_slots: 2", "slot: 0, status: normal", "slot: 1, status: normal", "nvbootctrl_rc=0" ], "LINKS": [ "lo UNKNOWN 00:00:00:00:00:00 ", "enp0s1 UP 52:54:00:12:00:02 ", "enP8p1s0 UP 52:54:00:12:01:64 ", "g1wifi-eth UP 94:ba:06:f7:0f:6c ", "wlx94ba06f70f6c@g1wifi-eth DORMANT 94:ba:06:f7:0f:6c ", "can0 DOWN ", "can1 DOWN " ], "ADDR": [ "lo UNKNOWN 127.0.0.1/8", "enp0s1 UP 10.0.2.15/24", "enP8p1s0 UP 192.168.123.164/24" ], "USB": [ "1-2 0409:55aa 12 hub 314159-0000:00:05.0-2", "1-2.2 0c72:000c 12 peak_usb -", "1-3 0c72:000c 12 peak_usb -", "1-5 32e4:8430 480 uvcvideo 2022051301", "1-6 32e4:8430 480 uvcvideo 2022051301", "usb1 1d6b:0002 480 - 0000:00:05.0", "usb2 1d6b:0003 5000 - 0000:00:05.0" ], "VIDEO": [ "/dev/video0", "/dev/video1", "/dev/video2", "/dev/video3" ], "BYPATH": [ "platform-3610000.usb-usb-0:2.1.3:1.0-video-index0 /dev/video0", "platform-3610000.usb-usb-0:2.1.3:1.0-video-index1 /dev/video1", "platform-3610000.usb-usb-0:2.1.4:1.0-video-index0 /dev/video2", "platform-3610000.usb-usb-0:2.1.4:1.0-video-index1 /dev/video3" ], "THERMAL": [ "thermal_zone0 cpu-thermal 45000", "thermal_zone1 gpu-thermal 43000", "thermal_zone2 cv0-thermal 42000", "thermal_zone3 cv1-thermal 42000", "thermal_zone4 cv2-thermal 42000", "thermal_zone5 soc0-thermal 44000", "thermal_zone6 soc1-thermal 44000", "thermal_zone7 soc2-thermal 44000", "thermal_zone8 tj-thermal 46000" ], "CANRULE": [ "0dfbc2140f37fab5ded923eef4a9488a /etc/udev/rules.d/80-can-gripper.rules" ], "CAN": [ "can_gripper_l /sys/devices/pci0000:00/0000:00:05.0/usb1/1-3/1-3:1.0 peak_usb", "can_gripper_r /sys/devices/pci0000:00/0000:00:05.0/usb1/1-2/1-2.2/1-2.2:1.0 peak_usb" ], "CANJSON": [ "[{\"ifindex\":6,\"ifname\":\"can_gripper_l\",\"flags\":[\"NOARP\",\"UP\",\"LOWER_UP\",\"ECHO\"],\"mtu\":16,\"qdisc\":\"pfifo_fast\",\"operstate\":\"UP\",\"linkmode\":\"DEFAULT\",\"group\":\"default\",\"txqlen\":10,\"link_type\":\"can\",\"promiscuity\":0,\"min_mtu\":0,\"max_mtu\":0,\"linkinfo\":{\"info_kind\":\"can\",\"info_data\":{\"state\":\"ERROR-ACTIVE\",\"berr_counter\":{\"tx\":0,\"rx\":0},\"restart_ms\":0,\"bittiming\":{\"bitrate\":1000000,\"sample_point\":0.750,\"tq\":125,\"prop_seg\":2,\"phase_seg1\":3,\"phase_seg2\":2,\"sjw\":1},\"bittiming_const\":{\"name\":\"pcan_usb\",\"tseg1\":{\"min\":1,\"max\":16},\"tseg2\":{\"min\":1,\"max\":8},\"sjw\":{\"min\":1,\"max\":4},\"brp\":{\"min\":1,\"max\":64},\"brp_inc\":1},\"clock\":8000000}},\"num_tx_queues\":1,\"num_rx_queues\":1,\"gso_max_size\":65536,\"gso_max_segs\":65535,\"parentbus\":\"usb\",\"parentdev\":\"1-3:1.0\"},{\"ifindex\":7,\"ifname\":\"can_gripper_r\",\"flags\":[\"NOARP\",\"UP\",\"LOWER_UP\",\"ECHO\"],\"mtu\":16,\"qdisc\":\"pfifo_fast\",\"operstate\":\"UP\",\"linkmode\":\"DEFAULT\",\"group\":\"default\",\"txqlen\":10,\"link_type\":\"can\",\"promiscuity\":0,\"min_mtu\":0,\"max_mtu\":0,\"linkinfo\":{\"info_kind\":\"can\",\"info_data\":{\"state\":\"ERROR-ACTIVE\",\"berr_counter\":{\"tx\":0,\"rx\":0},\"restart_ms\":0,\"bittiming\":{\"bitrate\":1000000,\"sample_point\":0.750,\"tq\":125,\"prop_seg\":2,\"phase_seg1\":3,\"phase_seg2\":2,\"sjw\":1},\"bittiming_const\":{\"name\":\"pcan_usb\",\"tseg1\":{\"min\":1,\"max\":16},\"tseg2\":{\"min\":1,\"max\":8},\"sjw\":{\"min\":1,\"max\":4},\"brp\":{\"min\":1,\"max\":64},\"brp_inc\":1},\"clock\":8000000}},\"num_tx_queues\":1,\"num_rx_queues\":1,\"gso_max_size\":65536,\"gso_max_segs\":65535,\"parentbus\":\"usb\",\"parentdev\":\"1-2.2:1.0\"}]" ], "CAP": [ "cam 2.1.3 fmt 640 480 MJPG sizeimage 614400|summary frames 90 span_s 2.964 fps 30.03 seq_gaps 0 error_flags 0 not_jpeg 0 bytes_min 21722 bytes_max 24528 distinct_sha 90|last summary frames 90 span_s 2.964 fps 30.03 seq_gaps 0 error_flags 0 not_jpeg 0 bytes_min 21722 bytes_max 24528 distinct_sha 90", "cam 2.1.4 fmt 640 480 MJPG sizeimage 614400|summary frames 90 span_s 2.964 fps 30.03 seq_gaps 0 error_flags 0 not_jpeg 0 bytes_min 18439 bytes_max 19147 distinct_sha 90|last summary frames 90 span_s 2.964 fps 30.03 seq_gaps 0 error_flags 0 not_jpeg 0 bytes_min 18439 bytes_max 19147 distinct_sha 90" ], "GRIP": [ "{", " \"ifaces\": [", " \"can_gripper_l\",", " \"can_gripper_r\"", " ],", " \"host\": \"unitree-g1-nx\",", " \"at\": \"2026-10-25T03:26:35Z\",", " \"ids\": {", " \"can_gripper_l\": {", " \"motors\": [", " 7", " ],", " \"mst_id\": 23,", " \"pass\": true", " },", " \"can_gripper_r\": {", " \"motors\": [", " 7", " ],", " \"mst_id\": 23,", " \"pass\": true", " }", " },", " \"state\": {", " \"can_gripper_l\": {", " \"replies\": 500,", " \"lost\": 0,", " \"stale\": 0,", " \"seconds\": 9.98,", " \"hz\": 50.0,", " \"max_gap_ms\": 20.34,", " \"pass\": true", " },", " \"can_gripper_r\": {", " \"replies\": 500,", " \"lost\": 0,", " \"stale\": 0,", " \"seconds\": 9.98,", " \"hz\": 50.0,", " \"max_gap_ms\": 20.26,", " \"pass\": true", " }", " },", " \"pass\": true", "}" ], "FAILED": [], "END": [] }, "rule_sha256": "16cd6b34d54dae9bc972c5ce1c52ddecd666de5af247c72b1c7d3bd55c2d343d" }, "site": { "window_s": 60, "sections": { "LINKS": [ "lo UNKNOWN 00:00:00:00:00:00 ", "enp0s1 UP 52:54:00:12:00:02 ", "enP8p1s0 UP 52:54:00:12:01:64 ", "g1wifi-eth UP 94:ba:06:f7:0f:6c ", "wlx94ba06f70f6c@g1wifi-eth DORMANT 94:ba:06:f7:0f:6c ", "can_gripper_l UP ", "can_gripper_r UP " ], "MODULES": [ "g1_thermal_stub 16384 0", "virt_wifi 24576 1", "cfg80211 765952 1 virt_wifi" ], "NMDEV": [ "enP8p1s0:ethernet:connected", "enp0s1:ethernet:connected", "g1wifi-eth:ethernet:connecting (getting IP configuration)", "wlx94ba06f70f6c:wifi:disconnected", "can_gripper_l:can:unmanaged", "can_gripper_r:can:unmanaged", "lo:loopback:unmanaged" ], "SCAN": [ "coScene-Robot:WPA2:5240 MHz:AA\\:19\\:82\\:D2\\:CD\\:DF" ], "ADD": [ "Connection 'site-wifi' (ad53b7be-de64-4f78-9b89-84c190588c75) successfully added." ], "UP": [ "Connection successfully activated (D-Bus active path: /org/freedesktop/NetworkManager/ActiveConnection/5)" ], "STATE": [ "activated" ], "KEYMGMT": [ "wpa-psk" ], "IPBRA": [ "lo UNKNOWN 127.0.0.1/8 ::1/128", "enp0s1 UP 10.0.2.15/24 fec0::6ee2:3a78:91c:1c77/64 fec0::a576:8ff3:7ea0:430a/64 fe80::279:c5bf:948f:4c2/64", "enP8p1s0 UP 192.168.123.164/24 fe80::31b6:ec5f:7004:b3af/64", "g1wifi-eth UP fe80::3395:5014:ab73:ebd6/64", "wlx94ba06f70f6c@g1wifi-eth UP 192.168.90.66/24 fe80::96ba:6ff:fef7:f6c/64", "can_gripper_l UP", "can_gripper_r UP" ], "PING": [ "3 packets transmitted, 3 received, 0% packet loss, time 2045ms", "rtt min/avg/max/mdev = 0.301/0.350/0.416/0.048 ms" ], "HEADSET": [ "listening on 0.0.0.0:63901", " 0.533 conn#1 ACCEPT from 192.168.90.87:52302", " 0.535 conn#1 G1VM-SITE-PICO CONNECT", " 0.535 conn#1 G1VM-SITE-PICO VERSION app 1.1.1", " 0.537 conn#1 G1VM-SITE-PICO heartbeat", " 0.537 conn#1 clock: headset +70.5 ms from PC, rtt 1.0 ms (median of 1); probe 1: +70.5 ms, rtt 1.0 ms", " 1.000 conn#1 G1VM-SITE-PICO tracking 42.0/s", " 2.000 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 2.536 conn#1 clock: headset +70.5 ms from PC, rtt 1.0 ms (median of 2); probe 2: +70.5 ms, rtt 1.0 ms", " 3.001 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 4.001 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 4.537 conn#1 clock: headset +70.5 ms from PC, rtt 1.0 ms (median of 3); probe 3: +70.0 ms, rtt 0.0 ms", " 5.001 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 6.001 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 6.537 conn#1 clock: headset +70.2 ms from PC, rtt 0.5 ms (median of 4); probe 4: +70.0 ms, rtt 0.0 ms", " 7.001 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 8.001 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 8.537 conn#1 clock: headset +70.0 ms from PC, rtt 0.0 ms (median of 5); probe 5: +70.0 ms, rtt 0.0 ms", " 9.001 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 10.001 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 10.537 conn#1 clock: headset +70.0 ms from PC, rtt 0.0 ms (median of 5); probe 6: +70.0 ms, rtt 0.0 ms", " 10.538 conn#1 G1VM-SITE-PICO heartbeat", " 11.001 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 12.001 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 12.537 conn#1 clock: headset +70.0 ms from PC, rtt 0.0 ms (median of 5); probe 7: +70.5 ms, rtt 1.0 ms", " 13.001 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 14.002 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 14.537 conn#1 clock: headset +70.0 ms from PC, rtt 0.0 ms (median of 5); probe 8: +71.0 ms, rtt 0.0 ms", " 15.002 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 16.002 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 16.537 conn#1 clock: headset +70.5 ms from PC, rtt 0.0 ms (median of 5); probe 9: +71.0 ms, rtt 0.0 ms", " 17.002 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 18.002 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 18.538 conn#1 clock: headset +70.5 ms from PC, rtt 0.0 ms (median of 5); probe 10: +70.0 ms, rtt 0.0 ms", " 19.002 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 20.002 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 20.536 conn#1 G1VM-SITE-PICO heartbeat", " 20.538 conn#1 clock: headset +70.5 ms from PC, rtt 0.0 ms (median of 5); probe 11: +70.0 ms, rtt 0.0 ms", " 21.002 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 22.002 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 22.538 conn#1 clock: headset +70.0 ms from PC, rtt 0.0 ms (median of 5); probe 12: +70.0 ms, rtt 0.0 ms", " 23.002 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 24.003 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 24.538 conn#1 clock: headset +70.0 ms from PC, rtt 0.0 ms (median of 5); probe 13: +70.5 ms, rtt 1.0 ms", " 25.003 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 26.003 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 26.538 conn#1 clock: headset +70.0 ms from PC, rtt 0.0 ms (median of 5); probe 14: +71.0 ms, rtt 0.0 ms", " 27.003 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 28.003 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 28.538 conn#1 clock: headset +70.5 ms from PC, rtt 0.0 ms (median of 5); probe 15: +70.5 ms, rtt 1.0 ms", " 29.003 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 30.003 conn#1 G1VM-SITE-PICO tracking 91.0/s", " 30.536 conn#1 G1VM-SITE-PICO heartbeat", " 30.538 conn#1 clock: headset +70.5 ms from PC, rtt 1.0 ms (median of 5); probe 16: +70.5 ms, rtt 1.0 ms", " 31.003 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 32.003 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 32.539 conn#1 clock: headset +70.5 ms from PC, rtt 1.0 ms (median of 5); probe 17: +70.0 ms, rtt 0.0 ms", " 33.003 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 34.004 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 34.539 conn#1 clock: headset +70.5 ms from PC, rtt 0.0 ms (median of 5); probe 18: +70.0 ms, rtt 0.0 ms", " 35.004 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 36.004 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 36.539 conn#1 clock: headset +70.0 ms from PC, rtt 0.0 ms (median of 5); probe 19: +70.0 ms, rtt 0.0 ms", " 37.004 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 38.004 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 38.539 conn#1 clock: headset +70.0 ms from PC, rtt 0.0 ms (median of 5); probe 20: +70.5 ms, rtt 1.0 ms", " 39.004 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 40.004 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 40.536 conn#1 G1VM-SITE-PICO heartbeat", " 40.539 conn#1 clock: headset +70.0 ms from PC, rtt 0.0 ms (median of 5); probe 21: +70.5 ms, rtt 1.0 ms", " 41.004 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 42.004 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 42.539 conn#1 clock: headset +70.5 ms from PC, rtt 0.0 ms (median of 5); probe 22: +71.0 ms, rtt 0.0 ms", " 43.004 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 44.005 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 44.539 conn#1 clock: headset +70.5 ms from PC, rtt 1.0 ms (median of 5); probe 23: +70.5 ms, rtt 1.0 ms", " 45.005 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 46.005 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 46.540 conn#1 clock: headset +70.5 ms from PC, rtt 1.0 ms (median of 5); probe 24: +70.0 ms, rtt 0.0 ms", " 47.005 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 48.005 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 48.540 conn#1 clock: headset +70.5 ms from PC, rtt 0.0 ms (median of 5); probe 25: +70.0 ms, rtt 0.0 ms", " 49.005 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 50.005 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 50.536 conn#1 G1VM-SITE-PICO heartbeat", " 50.540 conn#1 clock: headset +70.0 ms from PC, rtt 0.0 ms (median of 5); probe 26: +70.0 ms, rtt 0.0 ms", " 51.005 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 52.005 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 52.540 conn#1 clock: headset +70.0 ms from PC, rtt 0.0 ms (median of 5); probe 27: +70.0 ms, rtt 0.0 ms", " 53.005 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 54.006 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 54.540 conn#1 clock: headset +70.0 ms from PC, rtt 0.0 ms (median of 5); probe 28: +71.0 ms, rtt 0.0 ms", " 55.006 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 56.006 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 56.540 conn#1 clock: headset +70.0 ms from PC, rtt 0.0 ms (median of 5); probe 29: +70.5 ms, rtt 1.0 ms", " 57.006 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 58.006 conn#1 G1VM-SITE-PICO tracking 90.0/s", " 58.540 conn#1 clock: headset +70.5 ms from PC, rtt 0.0 ms (median of 5); probe 30: +71.0 ms, rtt 0.0 ms", " 59.006 conn#1 G1VM-SITE-PICO tracking 90.0/s" ], "THERMAL": [ "thermal_zone0 thermal_zone1 thermal_zone2 thermal_zone3 thermal_zone4 thermal_zone5 thermal_zone6 thermal_zone7 thermal_zone8", "thermal_zone0 cpu-thermal 45000", "thermal_zone1 gpu-thermal 43000", "thermal_zone2 cv0-thermal 42000", "thermal_zone3 cv1-thermal 42000", "thermal_zone4 cv2-thermal 42000", "thermal_zone5 soc0-thermal 44000", "thermal_zone6 soc1-thermal 44000", "thermal_zone7 soc2-thermal 44000", "thermal_zone8 tj-thermal 46000" ], "FAILED": [], "WPA": [ " [1792898811.4778] device (wlx94ba06f70f6c): Activation: starting connection 'site-wifi' (ad53b7be-de64-4f78-9b89-84c190588c75)", " [1792898811.4782] device (wlx94ba06f70f6c): supplicant interface state: associating -> disconnected", " [1792898811.4784] device (wlx94ba06f70f6c): state change: disconnected -> prepare (reason 'none', sys-iface-state: 'managed')", " [1792898811.4787] device (wlx94ba06f70f6c): state change: prepare -> config (reason 'none', sys-iface-state: 'managed')", " [1792898811.4789] device (wlx94ba06f70f6c): Activation: (wifi) access point 'site-wifi' has security, but secrets are required.", " [1792898811.4789] device (wlx94ba06f70f6c): state change: config -> need-auth (reason 'none', sys-iface-state: 'managed')", " [1792898811.4796] device (wlx94ba06f70f6c): state change: need-auth -> prepare (reason 'none', sys-iface-state: 'managed')", " [1792898811.4798] device (wlx94ba06f70f6c): state change: prepare -> config (reason 'none', sys-iface-state: 'managed')", " [1792898811.4799] device (wlx94ba06f70f6c): Activation: (wifi) connection 'site-wifi' has security, and secrets exist. No new secrets needed.", "wlx94ba06f70f6c: Trying to associate with aa:19:82:d2:cd:df (SSID='coScene-Robot' freq=5240 MHz)", " [1792898811.4964] device (wlx94ba06f70f6c): supplicant interface state: disconnected -> associating", "wlx94ba06f70f6c: Associated with aa:19:82:d2:cd:df", "wlx94ba06f70f6c: CTRL-EVENT-CONNECTED - Connection to aa:19:82:d2:cd:df completed [id=0 id_str=]", " [1792898813.5060] device (wlx94ba06f70f6c): supplicant interface state: associating -> completed", " [1792898813.5061] device (wlx94ba06f70f6c): Activation: (wifi) Stage 2 of 5 (Device Configure) successful. Connected to wireless network \"coScene-Robot\"", " [1792898813.5065] device (wlx94ba06f70f6c): state change: config -> ip-config (reason 'none', sys-iface-state: 'managed')", " [1792898813.5081] device (wlx94ba06f70f6c): state change: ip-config -> ip-check (reason 'none', sys-iface-state: 'managed')", " [1792898813.5102] device (wlx94ba06f70f6c): state change: ip-check -> secondaries (reason 'none', sys-iface-state: 'managed')", " [1792898813.5106] device (wlx94ba06f70f6c): state change: secondaries -> activated (reason 'none', sys-iface-state: 'managed')", " [1792898813.5117] device (wlx94ba06f70f6c): Activation: successful, device activated." ], "END": [] } }, "dds": { "window_s": 60, "nic": [ "renamed_from=-", "address=nm-profile", "enP8p1s0 UP 192.168.123.164/24 fe80::31b6:ec5f:7004:b3af/64 " ], "probe_build_s": 12.2, "probe": { "interface": "enP8p1s0", "window_s": 60.0, "lowstate": { "samples": 62499, "samples_hz": 1041.65, "ticks_hz": 999.97, "first_tick": 3657428, "last_tick": 3717426, "gaps": 69, "missing": 88, "repeated": 2507, "backwards": 31, "per_second_min": 1040, "per_second_max": 1043, "total": 66055, "motor_len_min": 35, "motor_len_max": 35, "used_min": 29, "used_max": 29 }, "lowstate_synth": { "samples": 60000, "samples_hz": 1000.0, "ticks_hz": 999.98, "first_tick": 3410, "last_tick": 63409, "gaps": 0, "missing": 0, "repeated": 0, "backwards": 0, "per_second_min": 1000, "per_second_max": 1000, "total": 63409 }, "bmsstate": { "window": 60, "total": 63 }, "secondary_imu": { "window": 30000, "total": 31708 }, "rpc": { "get_volume_ret": 0, "volume": 100, "first_answer_s": 0.001, "calls": 20, "failed": 0, "ms_min": 0.312, "ms_median": 0.358, "ms_p95": 0.512, "ms_max": 0.512, "mic_enable_ret": 0 }, "play": { "ret": 0, "stop_ret": 0, "app": "g1vm-probe", "bytes": 16000 }, "led": { "ret": 0, "rgb": [ 10, 200, 30 ] }, "lowcmd": { "sent": 1000, "written": 1000, "hz": 500 }, "dex3": { "left": { "cmd_sent": 100, "cmd_written": 100, "state_window": 6000, "state_total": 6342, "motor_len_min": 7, "motor_len_max": 7, "moved": false }, "right": { "cmd_sent": 100, "cmd_written": 100, "state_window": 6000, "state_total": 6332, "motor_len_min": 7, "motor_len_max": 7, "moved": false } } }, "lowstate_vs_take": { "pc2_anomalies": 100, "take_own": 100, "extra": 0, "extra_first": [], "take_anomalies_total": 188 }, "synth_losses": { "anomalies": 0, "restarts": 0, "lost": 0, "missing": 0, "lost_first": [] }, "pc1d": { "status": { "ev": "status", "volume": 100, "led": [ 10, 200, 30 ], "mic_on": true, "mode": { "form": "0", "name": "ai" }, "lowcmd_n": 1000, "played": {}, "dex3_cmd": { "left": 100, "right": 100 }, "t": 1792898964.959 }, "calls": [ { "api": 1003, "code": 0, "binary": 16000, "param": "{\"app_name\":\"g1vm-probe\",\"stream_id\":\"g1vm-probe-1\"}" }, { "api": 1004, "code": 0, "binary": 0, "param": "{\"app_name\":\"g1vm-probe\"}" }, { "api": 1010, "code": 0, "binary": 0, "param": "{\"B\":30,\"G\":200,\"R\":10}" } ] }, "mic": { "packets": 393, "tcpdump_err": [ "393 packets captured", "394 packets received by filter", "0 packets dropped by kernel" ], "sources": [ "192.168.123.161" ], "lengths": [ 5120 ], "first_lines": [ "1792898904.588180 IP 192.168.123.161.53850 > 239.168.123.161.5555: UDP, length 5120", "1792898904.748187 IP 192.168.123.161.53850 > 239.168.123.161.5555: UDP, length 5120", "1792898904.908183 IP 192.168.123.161.53850 > 239.168.123.161.5555: UDP, length 5120" ], "span_s": 62.72, "packets_hz": 6.25, "bytes_per_s": 32000.0 } } }, "can_personality": "peak", "gripper_sim": { "unix:/tmp/g1vm-q1fdzgf9/canl.sock": { "rx": 519, "tx": 504, "ignored": 15, "esc": 7, "mst": 23 }, "unix:/tmp/g1vm-q1fdzgf9/canr.sock": { "rx": 519, "tx": 504, "ignored": 15, "esc": 7, "mst": 23 } }, "verdict": { "ok": true, "counts": { "pass": 22, "out": 7, "not run": 1 }, "rows": [ { "device": "CPU cores, judged by nproc (Cortex-A78AE on the robot; the model only under tcg, the host CPU under kvm/hvf)", "count": 8, "unit": "U1", "note": "-smp 8; -cpu host under kvm/hvf, cortex-a78ae under tcg (the exact ISA only there, U12)", "evidence": { "cpu": { "nproc": "8", "cpu_part": "0xd8e", "cpu_model": "host", "ok": true } }, "state": "pass" }, { "device": "RAM", "count": "16 GB", "unit": "U1", "evidence": { "ram": { "mem_total_gib": 15.59, "qemu_m": "16G", "ok": true } }, "state": "pass" }, { "device": "NVMe nvme0n1, 15-partition GPT", "count": 1, "unit": "U7", "evidence": { "nvme": { "disk": "nvme0n1", "partitions": 15, "root": "/dev/nvme0n1p1", "root_partuuid": "71d8b760-717d-42d8-82dc-832a284dc6d3", "ok": true } }, "state": "pass" }, { "device": "System disk content: the robot's image + the virt overlay, every write of the run declared", "count": 1, "unit": "U2", "note": "g1vm diff --run: the run disk against the overlay layer; each path written matches tools/g1vm/allow (boot, devices, site, dds); identity.txt in the run", "evidence": { "identity": { "ok": true, "brief": "115 paths written, 0 undeclared \u2014 /home/ubuntu/.local/state/g1vm/runs/20261025T032613Z-check-devices-kvm/identity.txt" } }, "state": "pass" }, { "device": "Boot firmware: UEFI, ESP -> L4TLauncher -> extlinux, UEFI variables", "count": 1, "unit": "U7", "note": "the variable round trip across a reboot: g1vm check uefi; the recovery-partition boot: g1vm check recovery", "evidence": { "firmware": { "l4tlauncher_direct_boot": true, "efi_initrd": true, "kernel_on_qemu_line": false, "cmdline_is_extlinux_primary": true, "efivars": "38", "bootloader_slot_a": true, "ok": true } }, "state": "pass" }, { "device": "Boot firmware: QSPI bootloader slots, recovery-mode USB", "count": 1, "unit": "-", "state": "out", "ruling": "R2 N3: the system-disk half, boot and A/B in the VM; recovery mode and the QSPI write on real hardware only" }, { "device": "Rootfs A/B slot switch", "count": "-", "unit": "-", "state": "out", "ruling": "Decision 16: the image has one APP partition, no second rootfs slot" }, { "device": "GbE enP8p1s0", "count": 1, "unit": "U2, U3", "note": "the name and the robot's address here; the robot LAN and its multicast: the internal-switch row", "evidence": { "nic": { "link": "enP8p1s0 UP 52:54:00:12:01:64 ", "addr": "enP8p1s0 UP 192.168.123.164/24", "ok": true } }, "state": "pass" }, { "device": "USB Wi-Fi wlx94ba06f70f6c", "count": 1, "unit": "U4", "note": "virt_wifi stand-in (WPA2-PSK) on the site switch", "evidence": { "wifi": { "ok": true, "profile": { "key_mgmt": "wpa-psk", "ap": [ "coScene-Robot:WPA2:5240 MHz:AA\\:19\\:82\\:D2\\:CD\\:DF" ], "ok": true }, "state": "activated", "address": "wlx94ba06f70f6c@g1wifi-eth UP 192.168.90.66/24 fe80::96ba:6ff:fef7:f6c/64" } }, "state": "pass" }, { "device": "Wi-Fi radio driver rtl8852bu, radio flows (scan, power save)", "count": "-", "unit": "-", "state": "out", "ruling": "Decision 7: the rtl8852bu driver on real hardware only; mac80211_hwsim is a follow-on card" }, { "device": "Wrist cameras ELP 32e4:8430 (capture + metadata node each)", "count": "2 x 2 nodes", "unit": "U5", "evidence": { "cameras": { "usb": [ "1-5 32e4:8430 480 uvcvideo", "1-6 32e4:8430 480 uvcvideo" ], "video_nodes": [ "/dev/video0", "/dev/video1", "/dev/video2", "/dev/video3" ], "robot_bypath": { "platform-3610000.usb-usb-0:2.1.3:1.0-video-index0": "/dev/video0", "platform-3610000.usb-usb-0:2.1.3:1.0-video-index1": "/dev/video1", "platform-3610000.usb-usb-0:2.1.4:1.0-video-index0": "/dev/video2", "platform-3610000.usb-usb-0:2.1.4:1.0-video-index1": "/dev/video3" }, "frames": { "2.1.3": 90.0, "2.1.4": 90.0 }, "ok": true } }, "state": "pass" }, { "device": "Wrist cameras: MJPG 640x480 at 30 fps, no lost or bad frames", "count": 2, "unit": "U5", "evidence": { "camera_rate": { "fps": { "2.1.3": 30.03, "2.1.4": 30.03 }, "quality": { "2.1.3": { "seq_gaps": 0.0, "error_flags": 0.0, "not_jpeg": 0.0 }, "2.1.4": { "seq_gaps": 0.0, "error_flags": 0.0, "not_jpeg": 0.0 } }, "accel": "kvm", "ok": true } }, "state": "pass" }, { "device": "Head camera OAK-D-W", "count": 1, "unit": "-", "state": "out", "ruling": "R1 N4: \u300c\u6682\u65f6\u4e0d\u78b0\u5b83\u300d \u2014 private protocol, not now; a partial model later as its own card" }, { "device": "USB-CAN adapters (PEAK PCAN-USB on 66, canable2 gs_usb on the fleet)", "count": 2, "unit": "U6a, U6b", "note": "g1vm --can peak (66's, default) or gs; drivers from the overlay (not in the robot kernel)", "evidence": { "can": { "personality": "peak", "interfaces": { "can_gripper_l": { "port": "1-3", "driver": "peak_usb", "operstate": "UP", "state": "ERROR-ACTIVE", "bitrate": 1000000 }, "can_gripper_r": { "port": "1-2.2", "driver": "peak_usb", "operstate": "UP", "state": "ERROR-ACTIVE", "bitrate": 1000000 } }, "rule_md5": "0dfbc2140f37fab5ded923eef4a9488a", "others": [], "ok": true } }, "state": "pass" }, { "device": "YAM grippers (DM4310 motors)", "count": 2, "unit": "U6c", "note": "gripper-sim on QEMU's can-host-chardev: one motor per bus at ESC_ID 0x07 / MST_ID 0x17, answering", "evidence": { "grippers": { "motors": { "can_gripper_l": [ 7 ], "can_gripper_r": [ 7 ] }, "mst_id": { "can_gripper_l": 23, "can_gripper_r": 23 }, "replies": { "can_gripper_l": 500, "can_gripper_r": 500 }, "sim": { "unix:/tmp/g1vm-q1fdzgf9/canl.sock": { "rx": 519, "tx": 504, "ignored": 15, "esc": 7, "mst": 23 }, "unix:/tmp/g1vm-q1fdzgf9/canr.sock": { "rx": 519, "tx": 504, "ignored": 15, "esc": 7, "mst": 23 } }, "ok": true } }, "state": "pass" }, { "device": "YAM grippers: 50 Hz state poll, no exchange lost", "count": 2, "unit": "U6c", "note": "10 ms per exchange, the robot driver's wait; the 2 ms tail (U6c card) is not judged here", "evidence": { "gripper_rate": { "hz": { "can_gripper_l": 50.0, "can_gripper_r": 50.0 }, "lost": { "can_gripper_l": 0, "can_gripper_r": 0 }, "max_gap_ms": { "can_gripper_l": 20.34, "can_gripper_r": 20.26 }, "accel": "kvm", "ok": true } }, "state": "pass" }, { "device": "GPU (T4G via VFIO, SBSA stack)", "count": 1, "unit": "U9", "evidence": { "gpu": { "skipped": "g1vm --gpu (U9: the T4G passed through on g5g.metal) is not built; quota-blocked" } }, "state": "not run", "why": "g1vm --gpu (U9: the T4G passed through on g5g.metal) is not built; quota-blocked" }, { "device": "DLA, NVENC, nvargus, the Jetson GPU driver", "count": "-", "unit": "-", "state": "out", "ruling": "R2 N2: the server GPU passed through; DLA, NVENC, nvargus and the Jetson driver on real hardware only" }, { "device": "Thermal zones", "count": 9, "unit": "U2, U4", "note": "robot 66's DTB zone names, fixed readings", "evidence": { "thermal": { "zones": [ "cpu-thermal 45000", "gpu-thermal 43000", "cv0-thermal 42000", "cv1-thermal 42000", "cv2-thermal 42000", "soc0-thermal 44000", "soc1-thermal 44000", "soc2-thermal 44000", "tj-thermal 46000" ], "ok": true } }, "state": "pass" }, { "device": "USB by-path identities", "count": "-", "unit": "U2, U6a", "note": "cameras platform-3610000.usb-usb-0:2.1.3 / 2.1.4 (U2 symlinks); CAN at the robot's ports 1-3 / 1-2.2", "evidence": { "bypath": { "cameras": [ "platform-3610000.usb-usb-0:2.1.3:1.0-video-index0", "platform-3610000.usb-usb-0:2.1.3:1.0-video-index1", "platform-3610000.usb-usb-0:2.1.4:1.0-video-index0", "platform-3610000.usb-usb-0:2.1.4:1.0-video-index1" ], "can": { "can_gripper_l": "1-3", "can_gripper_r": "1-2.2" }, "ok": true } }, "state": "pass" }, { "device": "Headset link (PICO over Wi-Fi)", "count": 1, "unit": "U4", "note": "fake-headset on the site switch at ~90 Hz to PC2's :63901; cable mode on the robot switch is not run", "evidence": { "headset": { "from": [ "192.168.90.87" ], "reports": 59, "window_s": 60, "ok": true } }, "state": "pass" }, { "device": "Headset link: tracking at 90 Hz", "count": 1, "unit": "U4", "evidence": { "headset_rate": { "hz_median": 90.0, "hz_min": 90.0, "hz_max": 91.0, "accel": "kvm", "ok": true } }, "state": "pass" }, { "device": "Motors rt/lowstate / rt/lowcmd", "count": "29 of 35", "unit": "U3", "note": "every window sample: motor_state 35 slots, 29 in use (mode or supply voltage non-zero); 1,000 passive rt/lowcmd at 500 Hz, each counted by pc1d", "evidence": { "motors": { "slots": [ 35, 35 ], "in_use": [ 29, 29 ], "samples": 62499, "ok": true }, "lowcmd": { "sent": 1000, "written": 1000, "hz": 500, "pc1d_received": 1000, "ok": true } }, "state": "pass" }, { "device": "Motors: rt/lowstate at 1 kHz, no sample lost (take + synthetic)", "count": 1, "unit": "U3", "note": "the take's rt/lowstate 1,000 +/- 50 Hz, no gaps beyond its own; rt/lowstate_synth (the take's sample, gap-free tick, same publisher and QoS) 1,000 +/- 50 Hz, no gap at all", "evidence": { "lowstate_rate": { "samples_hz": 1041.65, "ticks_hz": 999.97, "gaps_seen": 69, "backwards_seen": 31, "take_own": 100, "gaps_beyond_take": 0, "synth_hz": 1000.0, "synth_lost": 0, "synth_missing": 0, "window_s": 60.0, "accel": "kvm", "ok": true } }, "state": "pass" }, { "device": "Pelvis IMU, torso IMU, BMS, remote-controller bytes", "count": "1 each", "unit": "U3", "note": "rt/secondary_imu and rt/lf/bmsstate from pc1d; the pelvis IMU and remote bytes ride in rt/lowstate", "evidence": { "pc1_topics": { "bmsstate": 60, "secondary_imu": 30000, "ok": true } }, "state": "pass" }, { "device": "Speaker (PlayStream), microphone array (multicast), LEDs (API 1010)", "count": "1 each", "unit": "U3", "note": "the voice service's GetVolume RPC < 50 ms, the mic multicast at 16 kHz s16le; one PlayStream (0.5 s, 16 kHz s16le) whose bytes pc1d logs, one LedControl whose colour pc1d holds", "evidence": { "voice": { "ok": true, "rpc": { "ret": 0, "calls": 20, "ms_median": 0.358, "ms_max": 0.512, "ok": true }, "mic": { "packets": 393, "packets_hz": 6.25, "bytes_per_s": 32000.0, "lengths": [ 5120 ], "ok": true }, "play": { "ret": 0, "stop_ret": 0, "bytes": 16000, "pc1d": [ { "api": 1003, "code": 0, "binary": 16000, "param": "{\"app_name\":\"g1vm-probe\",\"stream_id\":\"g1vm-probe-1\"}" } ], "ok": true }, "led": { "ret": 0, "rgb": [ 10, 200, 30 ], "pc1d_led": [ 10, 200, 30 ], "ok": true } } }, "state": "pass" }, { "device": "Dex3 hands", "count": 0, "unit": "U3", "note": "none on 66, where the upstream controller still writes rt/dex3/*/cmd: per side 100 cmds each counted by pc1d, rt/dex3/*/state 7 motors and no motion", "evidence": { "dex3": { "left": { "cmd_sent": 100, "cmd_written": 100, "pc1d_received": 100, "state_samples": 6000, "state_motors": [ 7, 7 ], "moved": false }, "right": { "cmd_sent": 100, "cmd_written": 100, "pc1d_received": 100, "state_samples": 6000, "state_motors": [ 7, 7 ], "moved": false }, "ok": true } }, "state": "pass" }, { "device": "Internal L2 switch", "count": 1, "unit": "U3", "note": "the run's VDE switch robot: PC1 at .161 reaches PC2 at .164", "evidence": { "lan_switch": { "ok": true, "pc1": { "address": "192.168.123.161", "interface": "robot", "mac": "52:54:00:12:01:61" }, "pc2": "192.168.123.164", "via": "VDE switch robot" } }, "state": "pass" }, { "device": "Inspire/DFX hands, Mid-360, RealSense, router .1", "count": "0 / unknown on 66", "unit": "-", "state": "out", "ruling": "not on robot 66's inventory (results/explore/g1-devices.md \u00a7 2b-2c)" }, { "device": "Real control-loop timing, the Orin's microarchitecture", "count": "-", "unit": "-", "state": "out", "ruling": "r3-followups: only a real Jetson" } ], "reasons": [] } }