diff --git a/stack the blocks/session_20261024_141729_00031/left_hand/Metadata/metadata.json b/stack the blocks/session_20261024_141729_00031/left_hand/Metadata/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..cb4ccfc5c3a0899d6e5ecee085d883a36286f2c4 --- /dev/null +++ b/stack the blocks/session_20261024_141729_00031/left_hand/Metadata/metadata.json @@ -0,0 +1,343 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "raspberry_pi_capture", + "created_time_ns": 1792822658702661173, + "platform": { + "system": "Linux", + "release": "6.18.34+rpt-rpi-2712", + "machine": "aarch64" + }, + "paths": { + "run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand", + "rgb_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/RGB_Images", + "clamp_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Clamp_Data", + "metadata_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Metadata", + "video_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/RGB_Images/video.mp4", + "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/RGB_Images/timestamps.csv", + "clamp_data_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Clamp_Data/clamp_data_tum.txt", + "metadata_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Metadata/metadata.json", + "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Clamp_Data/clamp_timebase.csv" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/TeleUMI", + "pi_data_root": "/home/zhang/TeleUMI/datasets" + }, + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + 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1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "button_control": { + "enabled": true, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "_source": { + "path": "/home/zhang/TeleUMI/config/teleumi_config.json" + } + }, + "diagnostics": { + "stage": "idle", + "timing": { + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + 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+ "recording_start_time_ns": 1792822652644065096, + "stop_request_time_ns": 1792822657849279491, + "finalized_time_ns": 1792822658702058404 + }, + "last_error": null, + "capture_start_time_ns": 1792822652643097808, + "capture_stop_time_ns": 1792822658697598012 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "left_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822652643097808, + "capture_stop_time_ns": 1792822658697598012, + "effective_capture_stop_time_ns": 1792822658697598012, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_141729_00031", + "control_generation": 31, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822652643097808, + "capture_stop_time_ns": 1792822658697598012 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 103.62304687500001, + "reference_source": "max_open_init", + "zero_angle_deg": 103.62304687500001, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.371e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822652643975375, + "camera_frame_count": 242, + "camera_started_time_ns": 1792822650060314922, + "camera_stopped_time_ns": 1792822658700715385, + "camera_actual_fps": 28.007961093504235, + "camera_first_frame_time_ns": 1792822652653452581, + "camera_last_frame_time_ns": 1792822658679815499, + "camera_frame_timestamp_fps": 39.99095362812665, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822658699750268, + "capture_count": 346, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 363, + "clamp_first_sample_time_ns": 1792822652653473191, + "clamp_last_sample_time_ns": 1792822658686795257, + "clamp_actual_hz": 60.00011205103798, + "clamp_value_min": 100.0, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 204, + "read_count": 753, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1533 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141729_00031/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141729_00031/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f08fa51f1c99ad23ad3d9121391139de25dfd29d --- /dev/null +++ b/stack the blocks/session_20261024_141729_00031/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822649191557198, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_141729_00031", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141714_00030", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141714_00030", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141714_00030.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141714_00030.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141714_00030.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141714_00030.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141714_00030", + "--control-generation", + "30", + "--ready-token", + "dc926c6c08a74476b784360c8116b546", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822649192102912, + "ended_time_ns": 1792822649206195924, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141714_00030.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141714_00030.diagnostics.json", + "capture_start_time_ns": 1792822637998820372, + "capture_stop_time_ns": 1792822646140316323, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141714_00030", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141714_00030/left_hand", + "timing": { + "server_start_request_time_ns": 1792822634580976143, + "subprocess_popen_time_ns": 1792822634585980446, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822634598585887, + "validate_start_time_ns": 1792822635527919492, + "session_dir_create_start_time_ns": 1792822634599302137, + "session_dir_create_end_time_ns": 1792822634600334475, + "as5600_init_start_time_ns": 1792822634603216436, + "as5600_init_end_time_ns": 1792822634604038906, + "as5600_zero_start_time_ns": 1792822634605344185, + "as5600_zero_end_time_ns": 1792822635410351389, + "camera_init_start_time_ns": 1792822635412394454, + "camera_init_end_time_ns": 1792822635415750020, + "camera_start_start_time_ns": 1792822635416962318, + "camera_start_end_time_ns": 1792822635420410624, + "camera_first_frame_wait_start_time_ns": 1792822635422095564, + "camera_first_frame_wait_end_time_ns": 1792822635423741431, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822635425258836, + "armed_time_ns": 1792822635526878561, + "waiting_t0_time_ns": 1792822635529629765, + "recording_start_time_ns": 1792822638003357623, + "stop_request_time_ns": 1792822645308882031, + "finalized_time_ns": 1792822646145365274 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822648808247087, + "ended_time_ns": 1792822648809376886, + "duration_s": 0.001129799, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822648808357826, + "ended_time_ns": 1792822648808564638, + "duration_s": 0.000206812, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822648808361752, + "ok": true, + "ended_time_ns": 1792822648808369992, + "duration_s": 8.24e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822648808370955, + "ok": true, + "ended_time_ns": 1792822648808373585, + "duration_s": 2.63e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822648808374085, + "ok": true, + "ended_time_ns": 1792822648808377326, + "duration_s": 3.241e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822648808377696, + "ok": true, + "ended_time_ns": 1792822648808554379, + "duration_s": 0.000176683 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822648808555471, + "ok": true, + "ended_time_ns": 1792822648808558879, + "duration_s": 3.408e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822648808559379, + "ok": true, + "ended_time_ns": 1792822648808561731, + "duration_s": 2.352e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822648808562194, + "ok": true, + "ended_time_ns": 1792822648808564175, + "duration_s": 1.981e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822648809213333, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822648459256191, + "frame_age_s": 0.349988901, + "heartbeat_age_s": 0.328939703, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822648809250073, + "duration_s": 3.674e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822648809251999, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 102.83203124999997, + "sample_observed_time_ns": 1792822648470144729, + "sample_age_s": 0.339114733, + "heartbeat_age_s": 0.328968184, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822648809263036, + "duration_s": 1.1037e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822648809263925, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822648809266017, + "duration_s": 2.092e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822648809267091, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822648809375516, + "duration_s": 0.000108425 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 30, + "ready_token": "dc926c6c08a74476b784360c8116b546", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141714_00030.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141714_00030.ready.json", + "arm_request_id": "9b07881fbf494647bd58d28b034a03f9", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2169, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141714_00030", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 30, + "last_bootstrap_time_ns": 1792822646960875744, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822648981237851, + "capture_count": 544, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.83203124999997, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822648970112149, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822648985189631 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822648936448861, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6860, + "displayed_count": 6697, + "dropped_count": 163, + "decode_error_count": 0, + "last_receive_time_ns": 1792822648818961609, + "last_frame_time_ns": 1792822648917357785, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141714_00030", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 30, + "last_bootstrap_time_ns": 1792822646960875744, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822648981237851, + "capture_count": 544, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.83203124999997, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822648970112149, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822648985189631 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 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Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": 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--. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, 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: 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "2a196c208811417c8cb59019cfc0ab3f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2170, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141714_00030", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 30, + "last_bootstrap_time_ns": 1792822646960875744, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822648981237851, + "capture_count": 544, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.83203124999997, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822648970112149, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822648985189631 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822648936448861, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6860, + "displayed_count": 6697, + "dropped_count": 163, + "decode_error_count": 0, + "last_receive_time_ns": 1792822648818961609, + "last_frame_time_ns": 1792822648917357785, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141714_00030", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 30, + "last_bootstrap_time_ns": 1792822646960875744, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822648981237851, + "capture_count": 544, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.83203124999997, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822648970112149, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822648985189631 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822649226539539, + "ended_time_ns": 1792822649248098507 + }, + "pi_start_request_time_ns": 1792822649248106762, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822649251581593, + "capture_start_time_ns": 1792822652643097808, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822657847094377, + "capture_stop_time_ns": 1792822658697598012, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141729_00031", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141729_00031", + "--control-generation", + "31", + "--ready-token", + "2a196c208811417c8cb59019cfc0ab3f", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822649232848947, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "capture_start_time_ns": 1792822652643097808, + "capture_stop_time_ns": 1792822658697598012, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand", + "timing": { + "server_start_request_time_ns": 1792822649226785750, + "subprocess_popen_time_ns": 1792822649232848947, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822649244369162, + "validate_start_time_ns": 1792822650195145515, + "session_dir_create_start_time_ns": 1792822649245132485, + "session_dir_create_end_time_ns": 1792822649246048973, + "as5600_init_start_time_ns": 1792822649247062311, + "as5600_init_end_time_ns": 1792822649247945021, + "as5600_zero_start_time_ns": 1792822649249299318, + "as5600_zero_end_time_ns": 1792822650056430363, + "camera_init_start_time_ns": 1792822650058164229, + "camera_init_end_time_ns": 1792822650060319959, + "camera_start_start_time_ns": 1792822650061466888, + "camera_start_end_time_ns": 1792822650063125477, + "camera_first_frame_wait_start_time_ns": 1792822650064810899, + "camera_first_frame_wait_end_time_ns": 1792822650066456043, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822650067948134, + "armed_time_ns": 1792822650194116844, + "waiting_t0_time_ns": 1792822650196879047, + "recording_start_time_ns": 1792822652644065096, + "stop_request_time_ns": 1792822657847030910, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822649212662922, + "ended_time_ns": 1792822649213178637, + "duration_s": 0.000515715, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822649212670922, + "ok": true, + "ended_time_ns": 1792822649212685700, + "duration_s": 1.4778e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822649212688496, + "ok": true, + "ended_time_ns": 1792822649212691496, + "duration_s": 3e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822649212691996, + "ok": true, + "ended_time_ns": 1792822649212696088, + "duration_s": 4.092e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822649212696570, + "ok": true, + "ended_time_ns": 1792822649213148267, + "duration_s": 0.000451697 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822649213155378, + "ok": true, + "ended_time_ns": 1792822649213166156, + "duration_s": 1.0778e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822649213167730, + "ok": true, + "ended_time_ns": 1792822649213173082, + "duration_s": 5.352e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822649213174156, + "ok": true, + "ended_time_ns": 1792822649213177804, + "duration_s": 3.648e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "2a196c208811417c8cb59019cfc0ab3f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "arm_request_id": "1b67d7d680f9443a943ae19343f20578", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2170, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 30, + "last_bootstrap_time_ns": 1792822646960875744, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822649231433373, + "capture_count": 554, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.83203124999997, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 186, + "max_queue_depth": 186, + "read_count": 186, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822649236784116, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822649240882524 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822657848105589, + "ended_time_ns": 1792822657864826553, + "capture_stop_time_ns": 1792822658697598012, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_141729_00031", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 130579 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 131890 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141684 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 132126 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 131890 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129700 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141729_00031", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141729_00031", + "--control-generation", + "31", + "--ready-token", + "2a196c208811417c8cb59019cfc0ab3f", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822659726725776, + "ended_time_ns": 1792822659739380547, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "capture_start_time_ns": 1792822652643097808, + "capture_stop_time_ns": 1792822658697598012, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand", + "timing": { + "server_start_request_time_ns": 1792822649226785750, + 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1792822649247945021, + "as5600_zero_start_time_ns": 1792822649249299318, + "as5600_zero_end_time_ns": 1792822650056430363, + "camera_init_start_time_ns": 1792822650058164229, + "camera_init_end_time_ns": 1792822650060319959, + "camera_start_start_time_ns": 1792822650061466888, + "camera_start_end_time_ns": 1792822650063125477, + "camera_first_frame_wait_start_time_ns": 1792822650064810899, + "camera_first_frame_wait_end_time_ns": 1792822650066456043, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822650067948134, + "armed_time_ns": 1792822650194116844, + "waiting_t0_time_ns": 1792822650196879047, + "recording_start_time_ns": 1792822652644065096, + "stop_request_time_ns": 1792822657849279491, + "finalized_time_ns": 1792822658702058404 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822649212662922, + "ended_time_ns": 1792822649213178637, + "duration_s": 0.000515715, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822649212670922, + "ok": true, + "ended_time_ns": 1792822649212685700, + "duration_s": 1.4778e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822649212688496, + "ok": true, + "ended_time_ns": 1792822649212691496, + "duration_s": 3e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822649212691996, + "ok": true, + "ended_time_ns": 1792822649212696088, + "duration_s": 4.092e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822649212696570, + "ok": true, + "ended_time_ns": 1792822649213148267, + "duration_s": 0.000451697 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822649213155378, + "ok": true, + "ended_time_ns": 1792822649213166156, + "duration_s": 1.0778e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822649213167730, + "ok": true, + "ended_time_ns": 1792822649213173082, + "duration_s": 5.352e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822649213174156, + "ok": true, + "ended_time_ns": 1792822649213177804, + "duration_s": 3.648e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "2a196c208811417c8cb59019cfc0ab3f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "arm_request_id": "1b67d7d680f9443a943ae19343f20578", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2170, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659507524361, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822659499072474, + "capture_count": 378, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.51110839589106, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822659505589905, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822659511210459 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822659618022540, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6952, + "displayed_count": 6784, + "dropped_count": 167, + "decode_error_count": 0, + "last_receive_time_ns": 1792822659558640117, + "last_frame_time_ns": 1792822659531136672, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659507524361, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + 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"/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_141729_00031", + "control_generation": 31, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + 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1792822658691608985, + "clamp_actual_hz": 59.99745438425034, + "clamp_value_min": 52.97503193859055, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 204, + "read_count": 753, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1529 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141729_00031/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141729_00031/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..61926e17c5355d17a3d421aff899f39f949c91bf --- /dev/null +++ b/stack the blocks/session_20261024_141729_00031/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822649162940064, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_141729_00031", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141729_00031/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + 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9.611e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822648972934963, + "ok": true, + "ended_time_ns": 1792822648972938481, + "duration_s": 3.518e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822648972938963, + "ok": true, + "ended_time_ns": 1792822648972941870, + "duration_s": 2.907e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822648972942259, + "ok": true, + "ended_time_ns": 1792822648973173701, + "duration_s": 0.000231442 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822648973177257, + "ok": true, + "ended_time_ns": 1792822648973191053, + "duration_s": 1.3796e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822648973192460, + "ok": true, + "ended_time_ns": 1792822648973198183, + "duration_s": 5.723e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822648973198534, + "ok": true, + "ended_time_ns": 1792822648973202034, + "duration_s": 3.5e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822648974292728, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822648473767794, + "frame_age_s": 0.500559008, + "heartbeat_age_s": 0.492520913, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822648974332247, + "duration_s": 3.9519e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822648974334395, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 280.8142089831133, + "sample_observed_time_ns": 1792822648474685268, + "sample_age_s": 0.499657164, + "heartbeat_age_s": 0.492551672, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822648974345672, + "duration_s": 1.1277e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822648974346672, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822648974349358, + "duration_s": 2.686e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822648974350506, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822648974600133, + "duration_s": 0.000249627 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 30, + "ready_token": "8e3dd4fc25a2440a89532d399170e189", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141714_00030.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141714_00030.ready.json", + "arm_request_id": "9b07881fbf494647bd58d28b034a03f9", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 2997, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141714_00030", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 30, + "last_bootstrap_time_ns": 1792822646960025655, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822648977115129, + "capture_count": 543, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.8142089831133, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822648974798854, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822648986180974 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822648178221776, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6360, + "displayed_count": 5095, + "dropped_count": 1263, + "decode_error_count": 0, + "last_receive_time_ns": 1792822648172911213, + "last_frame_time_ns": 1792822648145051331, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141714_00030", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 30, + "last_bootstrap_time_ns": 1792822646960025655, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822648977115129, + "capture_count": 543, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.8142089831133, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822648974798854, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822648986180974 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822649182135968, + "ended_time_ns": 1792822649188730511, + "duration_s": 0.000205646, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822649184076898, + "ok": true, + "ended_time_ns": 1792822649184085083, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822649184087028, + "ok": true, + "ended_time_ns": 1792822649184090269, + "duration_s": 3.241e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822649184090732, + "ok": true, + "ended_time_ns": 1792822649184094028, + "duration_s": 3.296e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822649184094435, + "ok": true, + "ended_time_ns": 1792822649184267545, + "duration_s": 0.00017311 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822649184268637, + "ok": true, + "ended_time_ns": 1792822649184272267, + "duration_s": 3.63e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822649184272748, + "ok": true, + "ended_time_ns": 1792822649184275674, + "duration_s": 2.926e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822649184276045, + "ok": true, + "ended_time_ns": 1792822649184277804, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141729_00031", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141729_00031", + "--control-generation", + "31", + "--ready-token", + "8b84745dbb664d00a9e37e7ae2613a24", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822649199768018, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/right_hand", + "timing": { + "server_start_request_time_ns": 1792822649194381418, + "subprocess_popen_time_ns": 1792822649199768018, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822649184072602, + "ended_time_ns": 1792822649184278248, + "duration_s": 0.000205646, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822649184076898, + "ok": true, + "ended_time_ns": 1792822649184085083, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822649184087028, + "ok": true, + "ended_time_ns": 1792822649184090269, + "duration_s": 3.241e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822649184090732, + "ok": true, + "ended_time_ns": 1792822649184094028, + "duration_s": 3.296e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822649184094435, + "ok": true, + "ended_time_ns": 1792822649184267545, + "duration_s": 0.00017311 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822649184268637, + "ok": true, + "ended_time_ns": 1792822649184272267, + "duration_s": 3.63e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822649184272748, + "ok": true, + "ended_time_ns": 1792822649184275674, + "duration_s": 2.926e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822649184276045, + "ok": true, + "ended_time_ns": 1792822649184277804, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "8b84745dbb664d00a9e37e7ae2613a24", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 2998, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141714_00030", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 30, + "last_bootstrap_time_ns": 1792822646960025655, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822648977115129, + "capture_count": 543, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.8142089831133, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822648974798854, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822648986180974 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822648178221776, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6360, + "displayed_count": 5095, + "dropped_count": 1263, + "decode_error_count": 0, + "last_receive_time_ns": 1792822648172911213, + "last_frame_time_ns": 1792822648145051331, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141714_00030", + "generation": 30, + "session_count": 30, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 30, + "last_bootstrap_time_ns": 1792822646960025655, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822648977115129, + "capture_count": 543, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.8142089831133, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822648974798854, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822648986180974 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822649192002834, + "ended_time_ns": 1792822649215564951 + }, + "pi_start_request_time_ns": 1792822649215573272, + "capture_start_time_ns": 1792822652643097808, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822657801217959, + "capture_stop_time_ns": 1792822658697598012, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141729_00031", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141729_00031", + "--control-generation", + "31", + "--ready-token", + "8b84745dbb664d00a9e37e7ae2613a24", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822649199768018, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "capture_start_time_ns": 1792822652643097808, + "capture_stop_time_ns": 1792822658697598012, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/right_hand", + "timing": { + "server_start_request_time_ns": 1792822649194381418, + "subprocess_popen_time_ns": 1792822649199768018, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822649247493019, + "validate_start_time_ns": 1792822650203962636, + "session_dir_create_start_time_ns": 1792822649249294948, + "session_dir_create_end_time_ns": 1792822649250226532, + "as5600_init_start_time_ns": 1792822649251810518, + "as5600_init_end_time_ns": 1792822649252659288, + "as5600_zero_start_time_ns": 1792822649254991415, + "as5600_zero_end_time_ns": 1792822650060757448, + "camera_init_start_time_ns": 1792822650062602894, + "camera_init_end_time_ns": 1792822650065164334, + "camera_start_start_time_ns": 1792822650066293324, + "camera_start_end_time_ns": 1792822650067995531, + "camera_first_frame_wait_start_time_ns": 1792822650069758719, + "camera_first_frame_wait_end_time_ns": 1792822650072091199, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822650073967349, + "armed_time_ns": 1792822650201766322, + "waiting_t0_time_ns": 1792822650207436068, + "recording_start_time_ns": 1792822652643284685, + "stop_request_time_ns": 1792822657804728822, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822649184072602, + "ended_time_ns": 1792822649184278248, + "duration_s": 0.000205646, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822649184076898, + "ok": true, + "ended_time_ns": 1792822649184085083, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822649184087028, + "ok": true, + "ended_time_ns": 1792822649184090269, + "duration_s": 3.241e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822649184090732, + "ok": true, + "ended_time_ns": 1792822649184094028, + "duration_s": 3.296e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822649184094435, + "ok": true, + "ended_time_ns": 1792822649184267545, + "duration_s": 0.00017311 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822649184268637, + "ok": true, + "ended_time_ns": 1792822649184272267, + "duration_s": 3.63e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822649184272748, + "ok": true, + "ended_time_ns": 1792822649184275674, + "duration_s": 2.926e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822649184276045, + "ok": true, + "ended_time_ns": 1792822649184277804, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "8b84745dbb664d00a9e37e7ae2613a24", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "arm_request_id": "1b67d7d680f9443a943ae19343f20578", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 2998, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 30, + "last_bootstrap_time_ns": 1792822646960025655, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822649224599241, + "capture_count": 553, + "capture_error_count": 0, + "writer_count": 326, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.8142089831133, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 185, + "max_queue_depth": 185, + "read_count": 185, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822649224690241, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822649241650627 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822657801648628, + "ended_time_ns": 1792822657815762352, + "capture_stop_time_ns": 1792822658697598012, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141729_00031", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141729_00031", + "--control-generation", + "31", + "--ready-token", + "8b84745dbb664d00a9e37e7ae2613a24", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822659851412614, + "ended_time_ns": 1792822659863177600, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "capture_start_time_ns": 1792822652643097808, + "capture_stop_time_ns": 1792822658697598012, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/right_hand", + "timing": { + "server_start_request_time_ns": 1792822649194381418, + "subprocess_popen_time_ns": 1792822649199768018, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822649247493019, + "validate_start_time_ns": 1792822650203962636, + "session_dir_create_start_time_ns": 1792822649249294948, + "session_dir_create_end_time_ns": 1792822649250226532, + "as5600_init_start_time_ns": 1792822649251810518, + "as5600_init_end_time_ns": 1792822649252659288, + "as5600_zero_start_time_ns": 1792822649254991415, + "as5600_zero_end_time_ns": 1792822650060757448, + "camera_init_start_time_ns": 1792822650062602894, + "camera_init_end_time_ns": 1792822650065164334, + "camera_start_start_time_ns": 1792822650066293324, + "camera_start_end_time_ns": 1792822650067995531, + "camera_first_frame_wait_start_time_ns": 1792822650069758719, + "camera_first_frame_wait_end_time_ns": 1792822650072091199, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822650073967349, + "armed_time_ns": 1792822650201766322, + "waiting_t0_time_ns": 1792822650207436068, + "recording_start_time_ns": 1792822652643284685, + "stop_request_time_ns": 1792822657810021849, + "finalized_time_ns": 1792822658705196234 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822649184072602, + "ended_time_ns": 1792822649184278248, + "duration_s": 0.000205646, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822649184076898, + "ok": true, + "ended_time_ns": 1792822649184085083, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822649184087028, + "ok": true, + "ended_time_ns": 1792822649184090269, + "duration_s": 3.241e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822649184090732, + "ok": true, + "ended_time_ns": 1792822649184094028, + "duration_s": 3.296e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822649184094435, + "ok": true, + "ended_time_ns": 1792822649184267545, + "duration_s": 0.00017311 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822649184268637, + "ok": true, + "ended_time_ns": 1792822649184272267, + "duration_s": 3.63e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822649184272748, + "ok": true, + "ended_time_ns": 1792822649184275674, + "duration_s": 2.926e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822649184276045, + "ok": true, + "ended_time_ns": 1792822649184277804, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "8b84745dbb664d00a9e37e7ae2613a24", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "arm_request_id": "1b67d7d680f9443a943ae19343f20578", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 2998, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659512890175, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822659492005176, + "capture_count": 378, + "capture_error_count": 0, + "writer_count": 243, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.482421875, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822659510198292, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822659519108527 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822658752199205, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6452, + "displayed_count": 5157, + "dropped_count": 1294, + "decode_error_count": 0, + "last_receive_time_ns": 1792822658639018842, + "last_frame_time_ns": 1792822658747006695, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659512890175, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + 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0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last 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32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": 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"System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "2a196c208811417c8cb59019cfc0ab3f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "arm_request_id": "1b67d7d680f9443a943ae19343f20578", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2170, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659507524361, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822661025190825, + "capture_count": 439, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.51110839589106, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822661022261106, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822661026378069 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822660698616572, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6961, + "displayed_count": 6793, + "dropped_count": 167, + "decode_error_count": 0, + "last_receive_time_ns": 1792822660634743487, + "last_frame_time_ns": 1792822660634106163, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659507524361, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822661025190825, + "capture_count": 439, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.51110839589106, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822661022261106, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822661026378069 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822661550621719, + "ended_time_ns": 1792822661561447801, + "duration_s": 0.001043468, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822661551706314, + "ended_time_ns": 1792822661551910589, + "duration_s": 0.000204275, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822661551710240, + "ok": true, + "ended_time_ns": 1792822661551718055, + "duration_s": 7.815e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822661551718943, + "ok": true, + "ended_time_ns": 1792822661551721388, + "duration_s": 2.445e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822661551721888, + "ok": true, + "ended_time_ns": 1792822661551725073, + "duration_s": 3.185e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822661551725462, + "ok": true, + "ended_time_ns": 1792822661551900589, + "duration_s": 0.000175127 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822661551901608, + "ok": true, + "ended_time_ns": 1792822661551904978, + "duration_s": 3.37e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822661551905441, + "ok": true, + "ended_time_ns": 1792822661551907941, + "duration_s": 2.5e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822661551908367, + "ok": true, + "ended_time_ns": 1792822661551910145, + "duration_s": 1.778e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822661552526655, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822661524250591, + "frame_age_s": 0.028303119, + "heartbeat_age_s": 0.020469336, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822661552557858, + "duration_s": 3.1203e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822661552559432, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 104.51110839589106, + "sample_observed_time_ns": 1792822661522277303, + "sample_age_s": 0.030289722, + "heartbeat_age_s": 0.020493854, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822661552569969, + "duration_s": 1.0537e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822661552574376, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822661552665968, + "duration_s": 9.1592e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822661561468098, + "ended_time_ns": 1792822661662082559, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141729_00031", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141729_00031", + "--control-generation", + "31", + "--ready-token", + "8b84745dbb664d00a9e37e7ae2613a24", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822661662096316, + "ended_time_ns": 1792822661676854335, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "capture_start_time_ns": 1792822652643097808, + "capture_stop_time_ns": 1792822658697598012, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/right_hand", + "timing": { + "server_start_request_time_ns": 1792822649194381418, + "subprocess_popen_time_ns": 1792822649199768018, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 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"camera_init_end_time_ns": 1792822650065164334, + "camera_start_start_time_ns": 1792822650066293324, + "camera_start_end_time_ns": 1792822650067995531, + "camera_first_frame_wait_start_time_ns": 1792822650069758719, + "camera_first_frame_wait_end_time_ns": 1792822650072091199, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822650073967349, + "armed_time_ns": 1792822650201766322, + "waiting_t0_time_ns": 1792822650207436068, + "recording_start_time_ns": 1792822652643284685, + "stop_request_time_ns": 1792822657810021849, + "finalized_time_ns": 1792822658705196234 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822649184072602, + "ended_time_ns": 1792822649184278248, + "duration_s": 0.000205646, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822649184076898, + "ok": true, + "ended_time_ns": 1792822649184085083, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822649184087028, + "ok": true, + "ended_time_ns": 1792822649184090269, + "duration_s": 3.241e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822649184090732, + "ok": true, + "ended_time_ns": 1792822649184094028, + "duration_s": 3.296e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822649184094435, + "ok": true, + "ended_time_ns": 1792822649184267545, + "duration_s": 0.00017311 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822649184268637, + "ok": true, + "ended_time_ns": 1792822649184272267, + "duration_s": 3.63e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822649184272748, + "ok": true, + "ended_time_ns": 1792822649184275674, + "duration_s": 2.926e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822649184276045, + "ok": true, + "ended_time_ns": 1792822649184277804, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "8b84745dbb664d00a9e37e7ae2613a24", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "arm_request_id": "1b67d7d680f9443a943ae19343f20578", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 2998, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659512890175, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822661540751090, + "capture_count": 460, + "capture_error_count": 0, + "writer_count": 243, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.482421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822661526861899, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822661541027884 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822660850806712, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6471, + "displayed_count": 5171, + "dropped_count": 1298, + "decode_error_count": 0, + "last_receive_time_ns": 1792822660834301933, + "last_frame_time_ns": 1792822660773504567, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659512890175, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822661540751090, + "capture_count": 460, + "capture_error_count": 0, + "writer_count": 243, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.482421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822661526861899, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822661541027884 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822661707238097, + "ended_time_ns": 1792822661716877083, + "duration_s": 0.001113175, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822661710424543, + "ended_time_ns": 1792822661710631263, + "duration_s": 0.00020672, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822661710427673, + "ok": true, + "ended_time_ns": 1792822661710435524, + "duration_s": 7.851e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822661710436598, + "ok": true, + "ended_time_ns": 1792822661710439450, + "duration_s": 2.852e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822661710439950, + "ok": true, + "ended_time_ns": 1792822661710443228, + "duration_s": 3.278e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822661710443580, + "ok": true, + "ended_time_ns": 1792822661710621800, + "duration_s": 0.00017822 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822661710622671, + "ok": true, + "ended_time_ns": 1792822661710625745, + "duration_s": 3.074e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822661710626393, + "ok": true, + "ended_time_ns": 1792822661710628671, + "duration_s": 2.278e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822661710629004, + "ok": true, + "ended_time_ns": 1792822661710630763, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822661711281980, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822661540751090, + "frame_age_s": 0.170563371, + "heartbeat_age_s": 0.170267688, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822661711318961, + "duration_s": 3.6981e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822661711321572, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 274.482421875, + "sample_observed_time_ns": 1792822661526861899, + "sample_age_s": 0.184468414, + "heartbeat_age_s": 0.17029754, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822661711333720, + "duration_s": 1.2148e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822661711338516, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822661711452682, + "duration_s": 0.000114166 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822661716902181, + "ended_time_ns": 1792822661824705132, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823233432308793, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823219950596196, + "ended_time_ns": 1792823219962801633, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823219962898235, + "ended_time_ns": 1792823220056879863, + "transferred_bytes": 13699, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,699 bytes\nTotal transferred file size: 13,699 bytes\nLiteral data: 13,699 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,834\n\nsent 46 bytes received 13,834 bytes 9,253.33 bytes/sec\ntotal size is 13,699 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823220057122687, + "ended_time_ns": 1792823233430727054, + "transferred_bytes": 6629687, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 6,629,687 bytes\nTotal transferred file size: 6,629,687 bytes\nLiteral data: 6,629,687 bytes\nMatched data: 0 bytes\nFile list size: 223\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 6,631,716\n\nsent 168 bytes received 6,631,716 bytes 491,250.67 bytes/sec\ntotal size is 6,629,687 speedup is 1.00" + } + ], + "transferred_bytes": 6643386, + "copied_local_bytes": 7063411, + "started_time_ns": 1792823219950294786, + "ended_time_ns": 1792823233431312910 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823219951049160, + "ended_time_ns": 1792823219970591029, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823219970671104, + "ended_time_ns": 1792823220031373338, + "transferred_bytes": 13697, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,697 bytes\nTotal transferred file size: 13,697 bytes\nLiteral data: 13,697 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,832\n\nsent 46 bytes received 13,832 bytes 9,252.00 bytes/sec\ntotal size is 13,697 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823220031614669, + "ended_time_ns": 1792823220603037076, + "transferred_bytes": 7538366, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 7,538,366 bytes\nTotal transferred file size: 7,538,366 bytes\nLiteral data: 7,538,366 bytes\nMatched data: 0 bytes\nFile list size: 214\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 7,540,610\n\nsent 168 bytes received 7,540,610 bytes 15,081,556.00 bytes/sec\ntotal size is 7,538,366 speedup is 1.00" + } + ], + "transferred_bytes": 7552063, + "copied_local_bytes": 7955889, + "started_time_ns": 1792823219950450313, + "ended_time_ns": 1792823220603626623 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_141741_00032", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823378207741120, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823377853764901, + "ended_time_ns": 1792823378207369683, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823377853764901, + "ended_time_ns": 1792823378029756929, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141741_00032", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141741_00032_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141741_00032 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141741_00032_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141741_00032_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141741_00032_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141741_00032\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822665437984945\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822665437984945，vive_T0=1792822665437984945，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822670811612769，vive_Tstop=1792822670811612769，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.006141s，first=1792822665444126127，T0=1792822665437984945，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002752s，last=1792822670808860767，Tstop=1792822670811612769，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1074\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00989275398717 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00989275398717 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1074，metadata 1074\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0098923939067 Hz，最低 150.0 Hz，时长 5.364734649658203 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0098923939067 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005991220474243164s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994817006..1.0000000005572791，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.001684176099422505m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.4133424922875586deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=215 duration=5.375s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=215，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 215，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=214，rows=215，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=215，monotonic违规=0，估算频率=40.01667253896689Hz，最大间隔=0.03335318s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 215，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.016673646431606 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.016673646431606 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033352921s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 323，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.8081..99.8081\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 323，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.9989623421695 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.9989623421695 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021911816s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=323，bad_rows=0，monotonic违规=0，估算频率=59.99895405798512Hz，最大间隔=0.021910613s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 215，metadata 215\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 323，metadata 323\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 215，timestamps 215，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=215，timestamps=215，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.027s，video=5.375s，timestamps=5.347770829s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.019s，camera=5.347770829s，clamp=5.366759480999998s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822665437984945，pi_T0=1792822665437984945，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822670811612769，pi_Tstop=1792822670811612769，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.007339s，first=1792822665445324064，T0=1792822665437984945，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.000938s，first=1792822665438923224，T0=1792822665437984945，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.018518s，last=1792822670793094893，Tstop=1792822670811612769，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005930s，last=1792822670805682705，Tstop=1792822670811612769，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.016964s，vive=5.36473464s，camera=5.347770829s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.002025s，vive=5.36473464s，clamp=5.366759480999998s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.001198s，vive_first=1792822665444126127，camera_first=1792822665445324064，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.005203s，vive_first=1792822665444126127，clamp_first=1792822665438923224，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.015766s，vive_last=1792822670808860767，camera_last=1792822670793094893，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.003178s，vive_last=1792822670808860767，clamp_last=1792822670805682705，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141741_00032_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823378030281541, + "ended_time_ns": 1792823378207369683, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141741_00032", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141741_00032_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141741_00032 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141741_00032_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141741_00032_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141741_00032_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141741_00032\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822665437984945\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822665437984945，vive_T0=1792822665437984945，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822670811612769，vive_Tstop=1792822670811612769，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.006141s，first=1792822665444126127，T0=1792822665437984945，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002752s，last=1792822670808860767，Tstop=1792822670811612769，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1074\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00989275398717 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00989275398717 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1074，metadata 1074\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0098923939067 Hz，最低 150.0 Hz，时长 5.364734649658203 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0098923939067 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005991220474243164s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994515332..1.0000000005576384，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0010504776095814695m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.3256755323435129deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=216 duration=5.4s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=216，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 216，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=215，rows=216，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=216，monotonic违规=0，估算频率=40.02330573102039Hz，最大间隔=0.030965743s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 216，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.023304352671495 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.023304352671495 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.030965909s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 323，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 65.2591..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 323，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99978472375378 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99978472375378 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020134877s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=323，bad_rows=0，monotonic违规=0，估算频率=59.99978534983624Hz，最大间隔=0.020136691s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 216，metadata 216\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 323，metadata 323\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 216，timestamps 216，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=216，timestamps=216，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.028s，video=5.4s，timestamps=5.3718703009999995s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.005s，camera=5.3718703009999995s，clamp=5.366685921999999s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822665437984945，pi_T0=1792822665437984945，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822670811612769，pi_Tstop=1792822670811612769，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.000038s，first=1792822665438022460，T0=1792822665437984945，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.005555s，first=1792822665443539577，T0=1792822665437984945，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.001720s，last=1792822670809892761，Tstop=1792822670811612769，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.001387s，last=1792822670810225499，Tstop=1792822670811612769，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.007136s，vive=5.36473464s，camera=5.3718703009999995s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.001951s，vive=5.36473464s，clamp=5.366685921999999s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.006104s，vive_first=1792822665444126127，camera_first=1792822665438022460，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.000587s，vive_first=1792822665444126127，clamp_first=1792822665443539577，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.001032s，vive_last=1792822670808860767，camera_last=1792822670809892761，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.001365s，vive_last=1792822670808860767，clamp_last=1792822670810225499，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141741_00032_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141741_00032_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141741_00032\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822665437984945\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822665437984945，vive_T0=1792822665437984945，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822670811612769，vive_Tstop=1792822670811612769，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.006141s，first=1792822665444126127，T0=1792822665437984945，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002752s，last=1792822670808860767，Tstop=1792822670811612769，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1074\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00989275398717 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00989275398717 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1074，metadata 1074\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0098923939067 Hz，最低 150.0 Hz，时长 5.364734649658203 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0098923939067 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005991220474243164s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994817006..1.0000000005572791，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.001684176099422505m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.4133424922875586deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=215 duration=5.375s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=215，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 215，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=214，rows=215，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=215，monotonic违规=0，估算频率=40.01667253896689Hz，最大间隔=0.03335318s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 215，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.016673646431606 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.016673646431606 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033352921s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 323，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.8081..99.8081\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 323，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.9989623421695 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.9989623421695 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021911816s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=323，bad_rows=0，monotonic违规=0，估算频率=59.99895405798512Hz，最大间隔=0.021910613s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 215，metadata 215\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 323，metadata 323\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 215，timestamps 215，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=215，timestamps=215，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.027s，video=5.375s，timestamps=5.347770829s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.019s，camera=5.347770829s，clamp=5.366759480999998s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822665437984945，pi_T0=1792822665437984945，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822670811612769，pi_Tstop=1792822670811612769，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.007339s，first=1792822665445324064，T0=1792822665437984945，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.000938s，first=1792822665438923224，T0=1792822665437984945，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.018518s，last=1792822670793094893，Tstop=1792822670811612769，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005930s，last=1792822670805682705，Tstop=1792822670811612769，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.016964s，vive=5.36473464s，camera=5.347770829s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.002025s，vive=5.36473464s，clamp=5.366759480999998s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.001198s，vive_first=1792822665444126127，camera_first=1792822665445324064，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.005203s，vive_first=1792822665444126127，clamp_first=1792822665438923224，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.015766s，vive_last=1792822670808860767，camera_last=1792822670793094893，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.003178s，vive_last=1792822670808860767，clamp_last=1792822670805682705，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141741_00032_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141741_00032\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822665437984945\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822665437984945，vive_T0=1792822665437984945，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822670811612769，vive_Tstop=1792822670811612769，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.006141s，first=1792822665444126127，T0=1792822665437984945，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002752s，last=1792822670808860767，Tstop=1792822670811612769，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1074\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00989275398717 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00989275398717 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1074，metadata 1074\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0098923939067 Hz，最低 150.0 Hz，时长 5.364734649658203 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0098923939067 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005991220474243164s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994515332..1.0000000005576384，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0010504776095814695m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.3256755323435129deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=216 duration=5.4s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=216，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 216，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=215，rows=216，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=216，monotonic违规=0，估算频率=40.02330573102039Hz，最大间隔=0.030965743s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 216，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.023304352671495 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.023304352671495 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.030965909s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 323，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 65.2591..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 323，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99978472375378 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99978472375378 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020134877s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=323，bad_rows=0，monotonic违规=0，估算频率=59.99978534983624Hz，最大间隔=0.020136691s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 216，metadata 216\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 323，metadata 323\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 216，timestamps 216，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=216，timestamps=216，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.028s，video=5.4s，timestamps=5.3718703009999995s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.005s，camera=5.3718703009999995s，clamp=5.366685921999999s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822665437984945，pi_T0=1792822665437984945，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822670811612769，pi_Tstop=1792822670811612769，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.000038s，first=1792822665438022460，T0=1792822665437984945，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.005555s，first=1792822665443539577，T0=1792822665437984945，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.001720s，last=1792822670809892761，Tstop=1792822670811612769，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.001387s，last=1792822670810225499，Tstop=1792822670811612769，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.007136s，vive=5.36473464s，camera=5.3718703009999995s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.001951s，vive=5.36473464s，clamp=5.366685921999999s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.006104s，vive_first=1792822665444126127，camera_first=1792822665438022460，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.000587s，vive_first=1792822665444126127，clamp_first=1792822665443539577，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.001032s，vive_last=1792822670808860767，camera_last=1792822670809892761，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.001365s，vive_last=1792822670808860767，clamp_last=1792822670810225499，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141741_00032_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141741_00032/control/stop_left_hand.flag b/stack the blocks/session_20261024_141741_00032/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..208deba038e4a7a1ed27729c255ef4d682443f72 --- /dev/null +++ b/stack the blocks/session_20261024_141741_00032/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822670811612769 \ No newline at end of file diff --git a/stack the blocks/session_20261024_141741_00032/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the blocks/session_20261024_141741_00032/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 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blocks/session_20261024_141741_00032/left_hand/Clamp_Data/clamp_timebase.csv" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/TeleUMI", + "pi_data_root": "/home/zhang/TeleUMI/datasets" + }, + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_device": "0", + 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true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822665437984945, + "capture_stop_time_ns": 1792822670811612769, + "effective_capture_stop_time_ns": 1792822670811612769, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + 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"仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 105.11718749999999, + "reference_source": "max_open_init", + "zero_angle_deg": 105.11718749999999, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 5.907e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822665440802625, + "camera_frame_count": 215, + "camera_started_time_ns": 1792822662866972947, + "camera_stopped_time_ns": 1792822670815002246, + "camera_actual_fps": 27.050730679496958, + "camera_first_frame_time_ns": 1792822665445324064, + "camera_last_frame_time_ns": 1792822670793094893, + "camera_frame_timestamp_fps": 40.016673646431606, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, 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204, + "read_count": 727, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1411 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141741_00032/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141741_00032/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..07371c706c6296123e9bc00bd293af5479faa5d6 --- /dev/null +++ b/stack the blocks/session_20261024_141741_00032/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822661945586698, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_141741_00032", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141729_00031", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141729_00031", + "--control-generation", + "31", + "--ready-token", + "2a196c208811417c8cb59019cfc0ab3f", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822661946263698, + "ended_time_ns": 1792822661968893119, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "capture_start_time_ns": 1792822652643097808, + "capture_stop_time_ns": 1792822658697598012, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031/left_hand", + "timing": { + "server_start_request_time_ns": 1792822649226785750, + "subprocess_popen_time_ns": 1792822649232848947, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822649244369162, + "validate_start_time_ns": 1792822650195145515, + "session_dir_create_start_time_ns": 1792822649245132485, + "session_dir_create_end_time_ns": 1792822649246048973, + "as5600_init_start_time_ns": 1792822649247062311, + "as5600_init_end_time_ns": 1792822649247945021, + "as5600_zero_start_time_ns": 1792822649249299318, + "as5600_zero_end_time_ns": 1792822650056430363, + "camera_init_start_time_ns": 1792822650058164229, + "camera_init_end_time_ns": 1792822650060319959, + "camera_start_start_time_ns": 1792822650061466888, + "camera_start_end_time_ns": 1792822650063125477, + "camera_first_frame_wait_start_time_ns": 1792822650064810899, + "camera_first_frame_wait_end_time_ns": 1792822650066456043, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822650067948134, + "armed_time_ns": 1792822650194116844, + "waiting_t0_time_ns": 1792822650196879047, + "recording_start_time_ns": 1792822652644065096, + "stop_request_time_ns": 1792822657849279491, + "finalized_time_ns": 1792822658702058404 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822661551624037, + "ended_time_ns": 1792822661552667505, + "duration_s": 0.001043468, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822661551706314, + "ended_time_ns": 1792822661551910589, + "duration_s": 0.000204275, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822661551710240, + "ok": true, + "ended_time_ns": 1792822661551718055, + "duration_s": 7.815e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822661551718943, + "ok": true, + "ended_time_ns": 1792822661551721388, + "duration_s": 2.445e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822661551721888, + "ok": true, + "ended_time_ns": 1792822661551725073, + "duration_s": 3.185e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822661551725462, + "ok": true, + "ended_time_ns": 1792822661551900589, + "duration_s": 0.000175127 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822661551901608, + "ok": true, + "ended_time_ns": 1792822661551904978, + "duration_s": 3.37e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822661551905441, + "ok": true, + "ended_time_ns": 1792822661551907941, + "duration_s": 2.5e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822661551908367, + "ok": true, + "ended_time_ns": 1792822661551910145, + "duration_s": 1.778e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822661552526655, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822661524250591, + "frame_age_s": 0.028303119, + "heartbeat_age_s": 0.020469336, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822661552557858, + "duration_s": 3.1203e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822661552559432, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 104.51110839589106, + "sample_observed_time_ns": 1792822661522277303, + "sample_age_s": 0.030289722, + "heartbeat_age_s": 0.020493854, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822661552569969, + "duration_s": 1.0537e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822661552571450, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822661552573450, + "duration_s": 2e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822661552574376, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822661552665968, + "duration_s": 9.1592e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "2a196c208811417c8cb59019cfc0ab3f", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "arm_request_id": "1b67d7d680f9443a943ae19343f20578", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2170, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659507524361, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822661524250591, + "capture_count": 459, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.51110839589106, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822661522277303, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822661532068319 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822661779959687, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6970, + "displayed_count": 6803, + "dropped_count": 167, + "decode_error_count": 0, + "last_receive_time_ns": 1792822661681481808, + "last_frame_time_ns": 1792822661779828633, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659507524361, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822661524250591, + "capture_count": 459, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.51110839589106, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822661522277303, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822661532068319 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + 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+/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, 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"WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822661973484249, + "ok": true, + "ended_time_ns": 1792822661973496304, + "duration_s": 1.2055e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822661973498471, + "ok": true, + "ended_time_ns": 1792822661973500934, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822661973501397, + "ok": true, + "ended_time_ns": 1792822661973504138, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822661973504471, + "ok": true, + "ended_time_ns": 1792822661973685802, + "duration_s": 0.000181331 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822661973687320, + "ok": true, + "ended_time_ns": 1792822661973691117, + "duration_s": 3.797e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 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"synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 32, + "ready_token": "6f99f8118e7142f887218a08ffaedf4d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2171, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659507524361, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822661524250591, + "capture_count": 459, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.51110839589106, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822661522277303, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822661532068319 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822661779959687, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6970, + "displayed_count": 6803, + "dropped_count": 167, + "decode_error_count": 0, + "last_receive_time_ns": 1792822661681481808, + "last_frame_time_ns": 1792822661779828633, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659507524361, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822661524250591, + "capture_count": 459, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.51110839589106, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822661522277303, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822661532068319 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822661986150601, + "ended_time_ns": 1792822662014515250 + }, + "pi_start_request_time_ns": 1792822662014522386, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822662018080027, + "capture_start_time_ns": 1792822665437984945, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822669996889286, + "capture_stop_time_ns": 1792822670811612769, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141741_00032", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141741_00032", + "--control-generation", + "32", + "--ready-token", + "6f99f8118e7142f887218a08ffaedf4d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822661994959645, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "capture_start_time_ns": 1792822665437984945, + "capture_stop_time_ns": 1792822670811612769, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/left_hand", + "timing": { + "server_start_request_time_ns": 1792822661990085729, + "subprocess_popen_time_ns": 1792822661994959645, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822662046792207, + "validate_start_time_ns": 1792822662966697864, + "session_dir_create_start_time_ns": 1792822662048443833, + "session_dir_create_end_time_ns": 1792822662049359358, + "as5600_init_start_time_ns": 1792822662050469898, + "as5600_init_end_time_ns": 1792822662051305757, + "as5600_zero_start_time_ns": 1792822662053014827, + "as5600_zero_end_time_ns": 1792822662858732039, + "camera_init_start_time_ns": 1792822662861695333, + "camera_init_end_time_ns": 1792822662866978206, + "camera_start_start_time_ns": 1792822662867859176, + "camera_start_end_time_ns": 1792822662869767521, + "camera_first_frame_wait_start_time_ns": 1792822662871675828, + "camera_first_frame_wait_end_time_ns": 1792822662874971988, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822662876429468, + "armed_time_ns": 1792822662965094812, + "waiting_t0_time_ns": 1792822662968557617, + "recording_start_time_ns": 1792822665440822606, + "stop_request_time_ns": 1792822669996299523, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822661973479693, + "ended_time_ns": 1792822661973696913, + "duration_s": 0.00021722, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822661973484249, + "ok": true, + "ended_time_ns": 1792822661973496304, + "duration_s": 1.2055e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822661973498471, + "ok": true, + "ended_time_ns": 1792822661973500934, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822661973501397, + "ok": true, + "ended_time_ns": 1792822661973504138, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822661973504471, + "ok": true, + "ended_time_ns": 1792822661973685802, + "duration_s": 0.000181331 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822661973687320, + "ok": true, + "ended_time_ns": 1792822661973691117, + "duration_s": 3.797e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822661973691672, + "ok": true, + "ended_time_ns": 1792822661973694061, + "duration_s": 2.389e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822661973694431, + "ok": true, + "ended_time_ns": 1792822661973696505, + "duration_s": 2.074e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 32, + "ready_token": "6f99f8118e7142f887218a08ffaedf4d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "arm_request_id": "febebefc7ea045e39d0d61995dbc6788", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2171, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659507524361, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822662024744300, + "capture_count": 479, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.51110839589106, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 200, + "max_queue_depth": 200, + "read_count": 200, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822662022746216, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822662039193513 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822669997779876, + "ended_time_ns": 1792822670011237950, + "capture_stop_time_ns": 1792822670811612769, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_141741_00032", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 116183 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 117066 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141685 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 117348 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 117066 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129683 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141741_00032", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141741_00032", + "--control-generation", + "32", + "--ready-token", + "6f99f8118e7142f887218a08ffaedf4d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822671836503106, + "ended_time_ns": 1792822671851033332, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "capture_start_time_ns": 1792822665437984945, + "capture_stop_time_ns": 1792822670811612769, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/left_hand", + "timing": { + "server_start_request_time_ns": 1792822661990085729, + "subprocess_popen_time_ns": 1792822661994959645, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822662046792207, + "validate_start_time_ns": 1792822662966697864, + "session_dir_create_start_time_ns": 1792822662048443833, + "session_dir_create_end_time_ns": 1792822662049359358, + "as5600_init_start_time_ns": 1792822662050469898, + "as5600_init_end_time_ns": 1792822662051305757, + "as5600_zero_start_time_ns": 1792822662053014827, + "as5600_zero_end_time_ns": 1792822662858732039, + "camera_init_start_time_ns": 1792822662861695333, + "camera_init_end_time_ns": 1792822662866978206, + "camera_start_start_time_ns": 1792822662867859176, + "camera_start_end_time_ns": 1792822662869767521, + "camera_first_frame_wait_start_time_ns": 1792822662871675828, + "camera_first_frame_wait_end_time_ns": 1792822662874971988, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822662876429468, + "armed_time_ns": 1792822662965094812, + "waiting_t0_time_ns": 1792822662968557617, + "recording_start_time_ns": 1792822665440822606, + "stop_request_time_ns": 1792822670001381677, + "finalized_time_ns": 1792822670817181957 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822661973479693, + "ended_time_ns": 1792822661973696913, + "duration_s": 0.00021722, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822661973484249, + "ok": true, + "ended_time_ns": 1792822661973496304, + "duration_s": 1.2055e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822661973498471, + "ok": true, + "ended_time_ns": 1792822661973500934, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822661973501397, + "ok": true, + "ended_time_ns": 1792822661973504138, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822661973504471, + "ok": true, + "ended_time_ns": 1792822661973685802, + "duration_s": 0.000181331 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822661973687320, + "ok": true, + "ended_time_ns": 1792822661973691117, + "duration_s": 3.797e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822661973691672, + "ok": true, + "ended_time_ns": 1792822661973694061, + "duration_s": 2.389e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822661973694431, + "ok": true, + "ended_time_ns": 1792822661973696505, + "duration_s": 2.074e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 32, + "ready_token": "6f99f8118e7142f887218a08ffaedf4d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "arm_request_id": "febebefc7ea045e39d0d61995dbc6788", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2171, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671626685193, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822671616784511, + "capture_count": 351, + "capture_error_count": 0, + "writer_count": 215, + "last_capture_error": null, + 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"主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822665437984945, + "capture_stop_time_ns": 1792822670811612769 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 274.5703125, + "reference_source": "max_open_init", + "zero_angle_deg": 274.5703125, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 7.019e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822665438913711, + "camera_frame_count": 216, + "camera_started_time_ns": 1792822662819954187, + "camera_stopped_time_ns": 1792822670820112615, + "camera_actual_fps": 26.99946531608861, + "camera_first_frame_time_ns": 1792822665438022460, + "camera_last_frame_time_ns": 1792822670809892761, + "camera_frame_timestamp_fps": 40.02330435267149, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822670809892761, + "capture_count": 320, + "capture_error_count": 0, + "writer_count": 216, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 323, + "clamp_first_sample_time_ns": 1792822665443539577, + "clamp_last_sample_time_ns": 1792822670810225499, + "clamp_actual_hz": 59.99978472375376, + "clamp_value_min": 65.25910522810159, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 206, + "read_count": 727, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1425 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..8045af09d2ab848d780cb5ff5fc11fcb00f6b276 --- /dev/null +++ b/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822661926487920, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_141741_00032", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141741_00032/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141729_00031", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141729_00031", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141729_00031", + "--control-generation", + "31", + "--ready-token", + "8b84745dbb664d00a9e37e7ae2613a24", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 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"import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822649247493019, + "validate_start_time_ns": 1792822650203962636, + "session_dir_create_start_time_ns": 1792822649249294948, + "session_dir_create_end_time_ns": 1792822649250226532, + "as5600_init_start_time_ns": 1792822649251810518, + "as5600_init_end_time_ns": 1792822649252659288, + "as5600_zero_start_time_ns": 1792822649254991415, + "as5600_zero_end_time_ns": 1792822650060757448, + "camera_init_start_time_ns": 1792822650062602894, + "camera_init_end_time_ns": 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+ "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822661710427673, + "ok": true, + "ended_time_ns": 1792822661710435524, + "duration_s": 7.851e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822661710436598, + "ok": true, + "ended_time_ns": 1792822661710439450, + "duration_s": 2.852e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822661710439950, + "ok": true, + "ended_time_ns": 1792822661710443228, + "duration_s": 3.278e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822661710443580, + "ok": true, + "ended_time_ns": 1792822661710621800, + "duration_s": 0.00017822 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822661710622671, + "ok": true, + "ended_time_ns": 1792822661710625745, + "duration_s": 3.074e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822661710626393, + "ok": true, + "ended_time_ns": 1792822661710628671, + "duration_s": 2.278e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822661710629004, + "ok": true, + "ended_time_ns": 1792822661710630763, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822661711281980, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822661540751090, + "frame_age_s": 0.170563371, + "heartbeat_age_s": 0.170267688, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822661711318961, + "duration_s": 3.6981e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822661711321572, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 274.482421875, + "sample_observed_time_ns": 1792822661526861899, + "sample_age_s": 0.184468414, + "heartbeat_age_s": 0.17029754, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822661711333720, + "duration_s": 1.2148e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822661711334720, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822661711337387, + "duration_s": 2.667e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822661711338516, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822661711452682, + "duration_s": 0.000114166 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 31, + "ready_token": "8b84745dbb664d00a9e37e7ae2613a24", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141729_00031.ready.json", + "arm_request_id": "1b67d7d680f9443a943ae19343f20578", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 2998, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659512890175, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822661540751090, + "capture_count": 460, + "capture_error_count": 0, + "writer_count": 243, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.482421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822661526861899, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822661541027884 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822660850806712, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6471, + "displayed_count": 5171, + "dropped_count": 1298, + "decode_error_count": 0, + "last_receive_time_ns": 1792822660834301933, + "last_frame_time_ns": 1792822660773504567, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659512890175, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822661540751090, + "capture_count": 460, + "capture_error_count": 0, + "writer_count": 243, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.482421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822661526861899, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822661541027884 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822661948108269, + "ended_time_ns": 1792822661960240160, + "duration_s": 0.000217591, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822661953612434, + "ok": true, + "ended_time_ns": 1792822661953620027, + "duration_s": 7.593e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822661953621619, + "ok": true, + "ended_time_ns": 1792822661953624897, + "duration_s": 3.278e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822661953625341, + "ok": true, + "ended_time_ns": 1792822661953628638, + "duration_s": 3.297e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822661953629008, + "ok": true, + "ended_time_ns": 1792822661953803914, + "duration_s": 0.000174906 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822661953804710, + "ok": true, + "ended_time_ns": 1792822661953807599, + "duration_s": 2.889e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822661953808081, + "ok": true, + "ended_time_ns": 1792822661953810784, + "duration_s": 2.703e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822661953811118, + "ok": true, + "ended_time_ns": 1792822661953825506, + "duration_s": 1.4388e-05 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141741_00032", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141741_00032", + "--control-generation", + "32", + "--ready-token", + "f5276d81962247f99f433542cd0c1b4d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822661973987142, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand", + "timing": { + "server_start_request_time_ns": 1792822661969141240, + "subprocess_popen_time_ns": 1792822661973987142, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822661953608619, + "ended_time_ns": 1792822661953826210, + "duration_s": 0.000217591, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822661953612434, + "ok": true, + "ended_time_ns": 1792822661953620027, + "duration_s": 7.593e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822661953621619, + "ok": true, + "ended_time_ns": 1792822661953624897, + "duration_s": 3.278e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822661953625341, + "ok": true, + "ended_time_ns": 1792822661953628638, + "duration_s": 3.297e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822661953629008, + "ok": true, + "ended_time_ns": 1792822661953803914, + "duration_s": 0.000174906 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822661953804710, + "ok": true, + "ended_time_ns": 1792822661953807599, + "duration_s": 2.889e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822661953808081, + "ok": true, + "ended_time_ns": 1792822661953810784, + "duration_s": 2.703e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822661953811118, + "ok": true, + "ended_time_ns": 1792822661953825506, + "duration_s": 1.4388e-05 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 32, + "ready_token": "f5276d81962247f99f433542cd0c1b4d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 2999, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659512890175, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822661540751090, + "capture_count": 460, + "capture_error_count": 0, + "writer_count": 243, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.482421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822661526861899, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822661541027884 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822661933102431, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6480, + "displayed_count": 5179, + "dropped_count": 1300, + "decode_error_count": 0, + "last_receive_time_ns": 1792822661850954403, + "last_frame_time_ns": 1792822661881310522, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141729_00031", + "generation": 31, + "session_count": 31, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659512890175, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822661540751090, + "capture_count": 460, + "capture_error_count": 0, + "writer_count": 243, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.482421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822661526861899, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822661541027884 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822661963670543, + "ended_time_ns": 1792822661990025504 + }, + "pi_start_request_time_ns": 1792822661990034462, + "capture_start_time_ns": 1792822665437984945, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822669914496749, + "capture_stop_time_ns": 1792822670811612769, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141741_00032", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141741_00032", + "--control-generation", + "32", + "--ready-token", + "f5276d81962247f99f433542cd0c1b4d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822661973987142, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "capture_start_time_ns": 1792822665437984945, + "capture_stop_time_ns": 1792822670811612769, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/right_hand", + "timing": { + "server_start_request_time_ns": 1792822661969141240, + "subprocess_popen_time_ns": 1792822661973987142, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822662002854051, + "validate_start_time_ns": 1792822662966298199, + "session_dir_create_start_time_ns": 1792822662003683303, + 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"started_time_ns": 1792822661953608619, + "ended_time_ns": 1792822661953826210, + "duration_s": 0.000217591, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822661953612434, + "ok": true, + "ended_time_ns": 1792822661953620027, + "duration_s": 7.593e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822661953621619, + "ok": true, + "ended_time_ns": 1792822661953624897, + "duration_s": 3.278e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822661953625341, + "ok": true, + "ended_time_ns": 1792822661953628638, + "duration_s": 3.297e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822661953629008, + "ok": true, + "ended_time_ns": 1792822661953803914, + "duration_s": 0.000174906 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822661953804710, + "ok": true, + "ended_time_ns": 1792822661953807599, + "duration_s": 2.889e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822661953808081, + "ok": true, + "ended_time_ns": 1792822661953810784, + "duration_s": 2.703e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822661953811118, + "ok": true, + "ended_time_ns": 1792822661953825506, + "duration_s": 1.4388e-05 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 32, + "ready_token": "f5276d81962247f99f433542cd0c1b4d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "arm_request_id": "febebefc7ea045e39d0d61995dbc6788", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 2999, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 31, + "last_bootstrap_time_ns": 1792822659512890175, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822661990573624, + "capture_count": 478, + "capture_error_count": 0, + "writer_count": 243, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 274.482421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 198, + "max_queue_depth": 198, + "read_count": 198, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822661993524986, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822661999270769 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822669915612617, + "ended_time_ns": 1792822669930150118, + "capture_stop_time_ns": 1792822670811612769, + "stop_attempts": 1, + "stop_time_recovered": false + }, + 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"right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141741_00032", + "--control-generation", + "32", + "--ready-token", + "f5276d81962247f99f433542cd0c1b4d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822671968556993, + "ended_time_ns": 1792822671982932412, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": 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"camera_first_frame_wait_end_time_ns": 1792822662831424585, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822662832933145, + "armed_time_ns": 1792822662962505640, + "waiting_t0_time_ns": 1792822662967734890, + "recording_start_time_ns": 1792822665439041210, + "stop_request_time_ns": 1792822669922744694, + "finalized_time_ns": 1792822670821260327 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822661953608619, + "ended_time_ns": 1792822661953826210, + "duration_s": 0.000217591, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822661953612434, + "ok": true, + "ended_time_ns": 1792822661953620027, + "duration_s": 7.593e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822661953621619, + "ok": true, + "ended_time_ns": 1792822661953624897, + "duration_s": 3.278e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822661953625341, + "ok": true, + "ended_time_ns": 1792822661953628638, + "duration_s": 3.297e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822661953629008, + "ok": true, + "ended_time_ns": 1792822661953803914, + "duration_s": 0.000174906 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822661953804710, + "ok": true, + "ended_time_ns": 1792822661953807599, + "duration_s": 2.889e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822661953808081, + "ok": true, + "ended_time_ns": 1792822661953810784, + "duration_s": 2.703e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822661953811118, + "ok": true, + "ended_time_ns": 1792822661953825506, + "duration_s": 1.4388e-05 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 32, + "ready_token": "f5276d81962247f99f433542cd0c1b4d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "arm_request_id": "febebefc7ea045e39d0d61995dbc6788", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 2999, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671631092749, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822671634674846, + "capture_count": 353, + "capture_error_count": 0, + "writer_count": 216, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 271.2524414030185, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822671629023897, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822671635721763 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822671653328273, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6565, + "displayed_count": 5235, + "dropped_count": 1328, + "decode_error_count": 0, + "last_receive_time_ns": 1792822671559237036, + "last_frame_time_ns": 1792822671529051823, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671631092749, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822671634674846, + "capture_count": 353, + "capture_error_count": 0, + "writer_count": 216, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + 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{"merged_trajectory.txt": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Merged_Trajectory/merged_trajectory.txt", "exists": true, "size_bytes": 142397}, "raw_vive_pose.txt": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Merged_Trajectory/raw_vive_pose.txt", "exists": true, "size_bytes": 142245}, "merged_trajectory.txt.part": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Merged_Trajectory/merged_trajectory.txt.part", "exists": false, "size_bytes": 0}, "raw_vive_pose.txt.part": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Merged_Trajectory/raw_vive_pose.txt.part", "exists": false, "size_bytes": 0}}}} diff --git a/stack the blocks/session_20261024_141753_00033/Metadata/ui_backend_metadata.json b/stack the blocks/session_20261024_141753_00033/Metadata/ui_backend_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7067d967268f5c79f482548a1dca93474eda8fb4 --- /dev/null +++ b/stack the blocks/session_20261024_141753_00033/Metadata/ui_backend_metadata.json @@ -0,0 +1,3618 @@ +{ + "project": "Tele-UMI", + "role": "ui_backend_joint_capture", + "session_id": "session_20261024_141753_00033", + "created_time_ns": 1792822673470166584, + "updated_time_ns": 1792823378061761365, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_names": [ + "left_hand", + "right_hand" + ], + "device_targets": { + "left_hand": { + "hand_name": "left_hand", + "pi_host": "192.168.31.140", + "pi_port": 8765, + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "requested_tracker_serial": "LHR-26B06EF4", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141741_00032", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141741_00032", + "--control-generation", + "32", + "--ready-token", + "6f99f8118e7142f887218a08ffaedf4d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822673055951253, + "ended_time_ns": 1792822673074307850, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "capture_start_time_ns": 1792822665437984945, + "capture_stop_time_ns": 1792822670811612769, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/left_hand", + "timing": { + "server_start_request_time_ns": 1792822661990085729, + "subprocess_popen_time_ns": 1792822661994959645, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822662046792207, + "validate_start_time_ns": 1792822662966697864, + "session_dir_create_start_time_ns": 1792822662048443833, + "session_dir_create_end_time_ns": 1792822662049359358, + "as5600_init_start_time_ns": 1792822662050469898, + "as5600_init_end_time_ns": 1792822662051305757, + "as5600_zero_start_time_ns": 1792822662053014827, + "as5600_zero_end_time_ns": 1792822662858732039, + "camera_init_start_time_ns": 1792822662861695333, + "camera_init_end_time_ns": 1792822662866978206, + "camera_start_start_time_ns": 1792822662867859176, + "camera_start_end_time_ns": 1792822662869767521, + "camera_first_frame_wait_start_time_ns": 1792822662871675828, + "camera_first_frame_wait_end_time_ns": 1792822662874971988, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822662876429468, + "armed_time_ns": 1792822662965094812, + "waiting_t0_time_ns": 1792822662968557617, + "recording_start_time_ns": 1792822665440822606, + "stop_request_time_ns": 1792822670001381677, + "finalized_time_ns": 1792822670817181957 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822661973479693, + "ended_time_ns": 1792822661973696913, + "duration_s": 0.00021722, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822661973484249, + "ok": true, + "ended_time_ns": 1792822661973496304, + "duration_s": 1.2055e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822661973498471, + "ok": true, + "ended_time_ns": 1792822661973500934, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822661973501397, + "ok": true, + "ended_time_ns": 1792822661973504138, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822661973504471, + "ok": true, + "ended_time_ns": 1792822661973685802, + "duration_s": 0.000181331 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822661973687320, + "ok": true, + "ended_time_ns": 1792822661973691117, + "duration_s": 3.797e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822661973691672, + "ok": true, + "ended_time_ns": 1792822661973694061, + "duration_s": 2.389e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822661973694431, + "ok": true, + "ended_time_ns": 1792822661973696505, + "duration_s": 2.074e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 32, + "ready_token": "6f99f8118e7142f887218a08ffaedf4d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "arm_request_id": "febebefc7ea045e39d0d61995dbc6788", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2171, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671626685193, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822672640512475, + "capture_count": 392, + "capture_error_count": 0, + "writer_count": 215, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.02929687500001, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 109, + "max_queue_depth": 109, + "read_count": 109, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822672624450414, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822672640813657 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822672320872888, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7061, + "displayed_count": 6890, + "dropped_count": 171, + "decode_error_count": 0, + "last_receive_time_ns": 1792822672213035376, + "last_frame_time_ns": 1792822672310814320, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671626685193, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822672640512475, + "capture_count": 392, + "capture_error_count": 0, + "writer_count": 215, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.02929687500001, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 109, + "max_queue_depth": 109, + "read_count": 109, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822672624450414, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822672640813657 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822673107836344, + "ended_time_ns": 1792822673119948509, + "duration_s": 0.001150411, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822673109047503, + "ended_time_ns": 1792822673109249315, + "duration_s": 0.000201812, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822673109050726, + "ok": true, + "ended_time_ns": 1792822673109058374, + "duration_s": 7.648e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822673109059300, + "ok": true, + "ended_time_ns": 1792822673109062225, + "duration_s": 2.925e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822673109062707, + "ok": true, + "ended_time_ns": 1792822673109065448, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822673109065799, + "ok": true, + "ended_time_ns": 1792822673109238649, + "duration_s": 0.00017285 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822673109239686, + "ok": true, + "ended_time_ns": 1792822673109243297, + "duration_s": 3.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822673109243760, + "ok": true, + "ended_time_ns": 1792822673109246297, + "duration_s": 2.537e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822673109246704, + "ok": true, + "ended_time_ns": 1792822673109248890, + "duration_s": 2.186e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822673109965843, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822672640512475, + "frame_age_s": 0.469481497, + "heartbeat_age_s": 0.469164501, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822673109998231, + "duration_s": 3.2388e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822673109999898, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 105.02929687500001, + "sample_observed_time_ns": 1792822672624450414, + "sample_age_s": 0.485557151, + "heartbeat_age_s": 0.469189297, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822673110010787, + "duration_s": 1.0889e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822673110015009, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822673110113619, + "duration_s": 9.861e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822673119968996, + "ended_time_ns": 1792822673215257872, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141741_00032", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + 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"as5600_init_start_time_ns": 1792822662005794248, + "as5600_init_end_time_ns": 1792822662006648314, + "as5600_zero_start_time_ns": 1792822662008060783, + "as5600_zero_end_time_ns": 1792822662814557512, + "camera_init_start_time_ns": 1792822662816987657, + "camera_init_end_time_ns": 1792822662819959613, + "camera_start_start_time_ns": 1792822662822684644, + "camera_start_end_time_ns": 1792822662825761598, + "camera_first_frame_wait_start_time_ns": 1792822662829784932, + "camera_first_frame_wait_end_time_ns": 1792822662831424585, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822662832933145, + "armed_time_ns": 1792822662962505640, + "waiting_t0_time_ns": 1792822662967734890, + "recording_start_time_ns": 1792822665439041210, + "stop_request_time_ns": 1792822669922744694, + "finalized_time_ns": 1792822670821260327 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822661953608619, + "ended_time_ns": 1792822661953826210, + "duration_s": 0.000217591, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822661953612434, + "ok": true, + "ended_time_ns": 1792822661953620027, + "duration_s": 7.593e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822661953621619, + "ok": true, + "ended_time_ns": 1792822661953624897, + "duration_s": 3.278e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822661953625341, + "ok": true, + "ended_time_ns": 1792822661953628638, + "duration_s": 3.297e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822661953629008, + "ok": true, + "ended_time_ns": 1792822661953803914, + "duration_s": 0.000174906 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822661953804710, + "ok": true, + "ended_time_ns": 1792822661953807599, + "duration_s": 2.889e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822661953808081, + "ok": true, + "ended_time_ns": 1792822661953810784, + "duration_s": 2.703e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822661953811118, + "ok": true, + "ended_time_ns": 1792822661953825506, + "duration_s": 1.4388e-05 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 32, + "ready_token": "f5276d81962247f99f433542cd0c1b4d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "arm_request_id": "febebefc7ea045e39d0d61995dbc6788", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 2999, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671631092749, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822673133271824, + "capture_count": 413, + "capture_error_count": 0, + "writer_count": 216, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 271.2524414030185, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822673145693917, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822673149751732 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822672777927190, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6575, + "displayed_count": 5243, + "dropped_count": 1330, + "decode_error_count": 0, + "last_receive_time_ns": 1792822672704977747, + "last_frame_time_ns": 1792822672668209092, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671631092749, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822673133271824, + "capture_count": 413, + "capture_error_count": 0, + "writer_count": 216, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 271.2524414030185, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822673145693917, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822673149751732 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822673283472781, + "ended_time_ns": 1792822673297029654, + "duration_s": 0.001075842, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822673287687579, + "ended_time_ns": 1792822673287896021, + "duration_s": 0.000208442, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822673287691190, + "ok": true, + "ended_time_ns": 1792822673287698486, + "duration_s": 7.296e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822673287699468, + "ok": true, + "ended_time_ns": 1792822673287702245, + "duration_s": 2.777e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822673287702838, + "ok": true, + "ended_time_ns": 1792822673287705968, + "duration_s": 3.13e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822673287706357, + "ok": true, + "ended_time_ns": 1792822673287885188, + "duration_s": 0.000178831 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822673287886188, + "ok": true, + "ended_time_ns": 1792822673287889707, + "duration_s": 3.519e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822673287890244, + "ok": true, + "ended_time_ns": 1792822673287893059, + "duration_s": 2.815e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822673287893410, + "ok": true, + "ended_time_ns": 1792822673287895540, + "duration_s": 2.13e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822673288535775, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822673133271824, + "frame_age_s": 0.155290432, + "heartbeat_age_s": 0.138794376, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822673288566423, + "duration_s": 3.0648e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822673288567923, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 271.2524414030185, + "sample_observed_time_ns": 1792822673145693917, + "sample_age_s": 0.142880284, + "heartbeat_age_s": 0.138819098, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822673288577090, + "duration_s": 9.167e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822673288581441, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822673288679015, + "duration_s": 9.7574e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822673297055986, + "ended_time_ns": 1792822673389716083, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823219937598298, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823208756953071, + "ended_time_ns": 1792823208779551808, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823208779774992, + "ended_time_ns": 1792823208836782841, + "transferred_bytes": 13694, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,694 bytes\nTotal transferred file size: 13,694 bytes\nLiteral data: 13,694 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,830\n\nsent 46 bytes received 13,830 bytes 27,752.00 bytes/sec\ntotal size is 13,694 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823208837100250, + "ended_time_ns": 1792823219936100773, + "transferred_bytes": 9298985, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 9,298,985 bytes\nTotal transferred file size: 9,298,985 bytes\nLiteral data: 9,298,985 bytes\nMatched data: 0 bytes\nFile list size: 229\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 9,301,668\n\nsent 168 bytes received 9,301,668 bytes 808,855.30 bytes/sec\ntotal size is 9,298,985 speedup is 1.00" + } + ], + "transferred_bytes": 9312679, + "copied_local_bytes": 9784861, + "started_time_ns": 1792823208756012329, + "ended_time_ns": 1792823219936665238 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823208757016242, + "ended_time_ns": 1792823208781333644, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823208781537149, + "ended_time_ns": 1792823208835683158, + "transferred_bytes": 13690, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,690 bytes\nTotal transferred file size: 13,690 bytes\nLiteral data: 13,690 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,826\n\nsent 46 bytes received 13,826 bytes 27,744.00 bytes/sec\ntotal size is 13,690 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823208836042428, + "ended_time_ns": 1792823209473581970, + "transferred_bytes": 8918293, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,918,293 bytes\nTotal transferred file size: 8,918,293 bytes\nLiteral data: 8,918,293 bytes\nMatched data: 0 bytes\nFile list size: 220\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,920,871\n\nsent 168 bytes received 8,920,871 bytes 5,947,359.33 bytes/sec\ntotal size is 8,918,293 speedup is 1.00" + } + ], + "transferred_bytes": 8931983, + "copied_local_bytes": 9386049, + "started_time_ns": 1792823208756303399, + "ended_time_ns": 1792823209474154744 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_141753_00033", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823378060475802, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823377695760542, + "ended_time_ns": 1792823378060156412, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823377695760542, + "ended_time_ns": 1792823377872942724, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141753_00033", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141753_00033_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141753_00033 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141753_00033_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141753_00033_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141753_00033_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141753_00033\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822676955864567\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822676955864567，vive_T0=1792822676955864567，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822683485137296，vive_Tstop=1792822683485137296，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008734s，first=1792822676964598839，T0=1792822676955864567，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000634s，last=1792822683484503516，Tstop=1792822683485137296，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1305\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00292406115494 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00292406115494 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1305，metadata 1305\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00292600922197 Hz，最低 150.0 Hz，时长 6.519904613494873 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00292600922197 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005990266799926758s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994087446..1.0000000005834806，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0013677335129487044m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.40309245275462313deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=262 duration=6.55s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=262，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 262，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=261，rows=262，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=262，monotonic违规=0，估算频率=40.02890184254724Hz，最大间隔=0.034187392s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 262，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.028901167242935 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.028901167242935 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.034186151s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 392，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 35.7006..98.2726\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 392，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99997011050085 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99997011050085 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018998189s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=392，bad_rows=0，monotonic违规=0，估算频率=59.999967891577285Hz，最大间隔=0.018998652s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 262，metadata 262\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 392，metadata 392\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 262，timestamps 262，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=262，timestamps=262，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.030s，video=6.55s，timestamps=6.520288900999999s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.004s，camera=6.520288900999999s，clamp=6.516669912999998s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822676955864567，pi_T0=1792822676955864567，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822683485137296，pi_Tstop=1792822683485137296，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.007548s，first=1792822676963412930，T0=1792822676955864567，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.001911s，first=1792822676957775950，T0=1792822676955864567，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.001435s，last=1792822683483701831，Tstop=1792822683485137296，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.010691s，last=1792822683474445863，Tstop=1792822683485137296，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.000384s，vive=6.519904677s，camera=6.520288900999999s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.003235s，vive=6.519904677s，clamp=6.516669912999998s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.001186s，vive_first=1792822676964598839，camera_first=1792822676963412930，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.006823s，vive_first=1792822676964598839，clamp_first=1792822676957775950，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.000802s，vive_last=1792822683484503516，camera_last=1792822683483701831，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.010058s，vive_last=1792822683484503516，clamp_last=1792822683474445863，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141753_00033_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823377873234852, + "ended_time_ns": 1792823378060156412, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141753_00033", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141753_00033_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141753_00033 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141753_00033_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141753_00033_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141753_00033_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141753_00033\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822676955864567\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822676955864567，vive_T0=1792822676955864567，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822683485137296，vive_Tstop=1792822683485137296，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008734s，first=1792822676964598839，T0=1792822676955864567，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000634s，last=1792822683484503516，Tstop=1792822683485137296，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1305\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00292406115494 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00292406115494 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1305，metadata 1305\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00292600922197 Hz，最低 150.0 Hz，时长 6.519904613494873 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00292600922197 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005990266799926758s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994239962..1.0000000006044312，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.001723230675524888m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.38425371700798455deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=261 duration=6.525s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=261，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 261，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=260，rows=261，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=261，monotonic违规=0，估算频率=40.037697253622966Hz，最大间隔=0.033671645s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 261，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03769622399275 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03769622399275 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033671867s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 392，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 392，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99989580887659 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99989580887659 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.022433726s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=392，bad_rows=0，monotonic违规=0，估算频率=59.999884557766876Hz，最大间隔=0.022433874s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 261，metadata 261\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 392，metadata 392\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 261，timestamps 261，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=261，timestamps=261，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=6.525s，timestamps=6.493880130999995s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.023s，camera=6.493880130999995s，clamp=6.516677982999999s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822676955864567，pi_T0=1792822676955864567，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822683485137296，pi_Tstop=1792822683485137296，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.026922s，first=1792822676982786229，T0=1792822676955864567，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.006495s，first=1792822676962359133，T0=1792822676955864567，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.008471s，last=1792822683476666360，Tstop=1792822683485137296，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.006100s，last=1792822683479037116，Tstop=1792822683485137296，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.026025s，vive=6.519904677s，camera=6.493880130999995s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.003227s，vive=6.519904677s，clamp=6.516677982999999s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.018187s，vive_first=1792822676964598839，camera_first=1792822676982786229，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.002240s，vive_first=1792822676964598839，clamp_first=1792822676962359133，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.007837s，vive_last=1792822683484503516，camera_last=1792822683476666360，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.005466s，vive_last=1792822683484503516，clamp_last=1792822683479037116，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141753_00033_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141753_00033_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141753_00033\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822676955864567\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822676955864567，vive_T0=1792822676955864567，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822683485137296，vive_Tstop=1792822683485137296，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008734s，first=1792822676964598839，T0=1792822676955864567，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000634s，last=1792822683484503516，Tstop=1792822683485137296，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1305\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00292406115494 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00292406115494 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1305，metadata 1305\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00292600922197 Hz，最低 150.0 Hz，时长 6.519904613494873 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00292600922197 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005990266799926758s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994087446..1.0000000005834806，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0013677335129487044m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.40309245275462313deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=262 duration=6.55s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=262，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 262，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=261，rows=262，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=262，monotonic违规=0，估算频率=40.02890184254724Hz，最大间隔=0.034187392s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 262，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.028901167242935 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.028901167242935 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.034186151s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 392，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 35.7006..98.2726\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 392，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99997011050085 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99997011050085 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018998189s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=392，bad_rows=0，monotonic违规=0，估算频率=59.999967891577285Hz，最大间隔=0.018998652s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 262，metadata 262\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 392，metadata 392\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 262，timestamps 262，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=262，timestamps=262，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.030s，video=6.55s，timestamps=6.520288900999999s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.004s，camera=6.520288900999999s，clamp=6.516669912999998s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822676955864567，pi_T0=1792822676955864567，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822683485137296，pi_Tstop=1792822683485137296，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.007548s，first=1792822676963412930，T0=1792822676955864567，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.001911s，first=1792822676957775950，T0=1792822676955864567，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.001435s，last=1792822683483701831，Tstop=1792822683485137296，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.010691s，last=1792822683474445863，Tstop=1792822683485137296，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.000384s，vive=6.519904677s，camera=6.520288900999999s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.003235s，vive=6.519904677s，clamp=6.516669912999998s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.001186s，vive_first=1792822676964598839，camera_first=1792822676963412930，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.006823s，vive_first=1792822676964598839，clamp_first=1792822676957775950，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.000802s，vive_last=1792822683484503516，camera_last=1792822683483701831，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.010058s，vive_last=1792822683484503516，clamp_last=1792822683474445863，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141753_00033_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141753_00033\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822676955864567\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822676955864567，vive_T0=1792822676955864567，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822683485137296，vive_Tstop=1792822683485137296，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008734s，first=1792822676964598839，T0=1792822676955864567，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000634s，last=1792822683484503516，Tstop=1792822683485137296，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1305\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00292406115494 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00292406115494 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1305，metadata 1305\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00292600922197 Hz，最低 150.0 Hz，时长 6.519904613494873 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00292600922197 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005990266799926758s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994239962..1.0000000006044312，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.001723230675524888m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.38425371700798455deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=261 duration=6.525s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=261，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 261，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=260，rows=261，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=261，monotonic违规=0，估算频率=40.037697253622966Hz，最大间隔=0.033671645s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 261，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03769622399275 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03769622399275 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033671867s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 392，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 392，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99989580887659 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99989580887659 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.022433726s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=392，bad_rows=0，monotonic违规=0，估算频率=59.999884557766876Hz，最大间隔=0.022433874s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 261，metadata 261\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 392，metadata 392\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 261，timestamps 261，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=261，timestamps=261，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=6.525s，timestamps=6.493880130999995s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.023s，camera=6.493880130999995s，clamp=6.516677982999999s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822676955864567，pi_T0=1792822676955864567，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822683485137296，pi_Tstop=1792822683485137296，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.026922s，first=1792822676982786229，T0=1792822676955864567，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.006495s，first=1792822676962359133，T0=1792822676955864567，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.008471s，last=1792822683476666360，Tstop=1792822683485137296，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.006100s，last=1792822683479037116，Tstop=1792822683485137296，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.026025s，vive=6.519904677s，camera=6.493880130999995s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.003227s，vive=6.519904677s，clamp=6.516677982999999s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.018187s，vive_first=1792822676964598839，camera_first=1792822676982786229，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.002240s，vive_first=1792822676964598839，clamp_first=1792822676962359133，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.007837s，vive_last=1792822683484503516，camera_last=1792822683476666360，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.005466s，vive_last=1792822683484503516，clamp_last=1792822683479037116，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141753_00033_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141753_00033/control/stop_left_hand.flag b/stack the blocks/session_20261024_141753_00033/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..a39bbe8d836165d8c718ce3b2f0d1f2470d397ee --- /dev/null +++ b/stack the blocks/session_20261024_141753_00033/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822683485137296 \ No newline at end of file diff --git a/stack the blocks/session_20261024_141753_00033/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the blocks/session_20261024_141753_00033/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..41e7afd888f602a2d5699457ded93740d5a94c68 --- /dev/null +++ b/stack the blocks/session_20261024_141753_00033/left_hand/Clamp_Data/clamp_data_tum.txt @@ -0,0 +1,392 @@ +1792822676.957775950 98.2726 +1792822676.974467466 98.2726 +1792822676.991154241 98.2726 +1792822677.007788314 98.2726 +1792822677.024455793 98.2726 +1792822677.041118051 98.2726 +1792822677.057780086 98.2726 +1792822677.074451972 98.2726 +1792822677.091115952 98.2726 +1792822677.107781005 98.2726 +1792822677.125261159 98.2726 +1792822677.143446840 98.2726 +1792822677.157783295 98.2726 +1792822677.174460534 98.2726 +1792822677.191119680 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blocks/session_20261024_141753_00033/left_hand/Metadata/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..4230f6f66f84b9c5e6b59489dd2f60f62d2684b6 --- /dev/null +++ b/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/metadata.json @@ -0,0 +1,343 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "raspberry_pi_capture", + "created_time_ns": 1792822683494989364, + "platform": { + "system": "Linux", + "release": "6.18.34+rpt-rpi-2712", + "machine": "aarch64" + }, + "paths": { + "run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "rgb_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand/RGB_Images", + "clamp_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Clamp_Data", + "metadata_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Metadata", + 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"applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 392, + "clamp_first_sample_time_ns": 1792822676957775950, + "clamp_last_sample_time_ns": 1792822683474445863, + "clamp_actual_hz": 59.99997011050082, + "clamp_value_min": 35.70055387521559, + "clamp_value_max": 98.27255219366245, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 204, + "read_count": 761, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1618 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..f4255a703e8e99d59a61fb976379511dd0bfb26c --- /dev/null +++ b/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822673497976569, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_141753_00033", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141741_00032", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141741_00032", + "--control-generation", + "32", + "--ready-token", + "6f99f8118e7142f887218a08ffaedf4d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822673498519752, + "ended_time_ns": 1792822673516686733, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "capture_start_time_ns": 1792822665437984945, + "capture_stop_time_ns": 1792822670811612769, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032/left_hand", + "timing": { + "server_start_request_time_ns": 1792822661990085729, + "subprocess_popen_time_ns": 1792822661994959645, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822662046792207, + "validate_start_time_ns": 1792822662966697864, + "session_dir_create_start_time_ns": 1792822662048443833, + "session_dir_create_end_time_ns": 1792822662049359358, + "as5600_init_start_time_ns": 1792822662050469898, + "as5600_init_end_time_ns": 1792822662051305757, + "as5600_zero_start_time_ns": 1792822662053014827, + "as5600_zero_end_time_ns": 1792822662858732039, + "camera_init_start_time_ns": 1792822662861695333, + "camera_init_end_time_ns": 1792822662866978206, + "camera_start_start_time_ns": 1792822662867859176, + "camera_start_end_time_ns": 1792822662869767521, + "camera_first_frame_wait_start_time_ns": 1792822662871675828, + "camera_first_frame_wait_end_time_ns": 1792822662874971988, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822662876429468, + "armed_time_ns": 1792822662965094812, + "waiting_t0_time_ns": 1792822662968557617, + "recording_start_time_ns": 1792822665440822606, + "stop_request_time_ns": 1792822670001381677, + "finalized_time_ns": 1792822670817181957 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822673108964708, + "ended_time_ns": 1792822673110115119, + "duration_s": 0.001150411, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822673109047503, + "ended_time_ns": 1792822673109249315, + "duration_s": 0.000201812, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822673109050726, + "ok": true, + "ended_time_ns": 1792822673109058374, + "duration_s": 7.648e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822673109059300, + "ok": true, + "ended_time_ns": 1792822673109062225, + "duration_s": 2.925e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822673109062707, + "ok": true, + "ended_time_ns": 1792822673109065448, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822673109065799, + "ok": true, + "ended_time_ns": 1792822673109238649, + "duration_s": 0.00017285 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822673109239686, + "ok": true, + "ended_time_ns": 1792822673109243297, + "duration_s": 3.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822673109243760, + "ok": true, + "ended_time_ns": 1792822673109246297, + "duration_s": 2.537e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822673109246704, + "ok": true, + "ended_time_ns": 1792822673109248890, + "duration_s": 2.186e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822673109965843, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822672640512475, + "frame_age_s": 0.469481497, + "heartbeat_age_s": 0.469164501, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822673109998231, + "duration_s": 3.2388e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822673109999898, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 105.02929687500001, + "sample_observed_time_ns": 1792822672624450414, + "sample_age_s": 0.485557151, + "heartbeat_age_s": 0.469189297, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822673110010787, + "duration_s": 1.0889e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822673110011768, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822673110014027, + "duration_s": 2.259e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822673110015009, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822673110113619, + "duration_s": 9.861e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 32, + "ready_token": "6f99f8118e7142f887218a08ffaedf4d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "arm_request_id": "febebefc7ea045e39d0d61995dbc6788", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2171, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671626685193, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822673143219099, + "capture_count": 412, + "capture_error_count": 0, + "writer_count": 215, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.02929687500001, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822673141224385, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822673146931290 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822673333491131, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7070, + "displayed_count": 6898, + "dropped_count": 171, + "decode_error_count": 0, + "last_receive_time_ns": 1792822673252989085, + "last_frame_time_ns": 1792822673226257315, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671626685193, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822673143219099, + "capture_count": 412, + "capture_error_count": 0, + "writer_count": 215, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.02929687500001, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822673141224385, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822673146931290 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822673520234887, + "ended_time_ns": 1792822673531752267, + "duration_s": 0.00019946, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822673523644720, + "ok": true, + "ended_time_ns": 1792822673523652498, + "duration_s": 7.778e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822673523654146, + "ok": true, + "ended_time_ns": 1792822673523656609, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822673523657146, + "ok": true, + "ended_time_ns": 1792822673523660257, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822673523660609, + "ok": true, + "ended_time_ns": 1792822673523829662, + "duration_s": 0.000169053 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822673523830903, + "ok": true, + "ended_time_ns": 1792822673523834199, + "duration_s": 3.296e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822673523834718, + "ok": true, + "ended_time_ns": 1792822673523837403, + "duration_s": 2.685e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822673523837755, + "ok": true, + "ended_time_ns": 1792822673523839995, + "duration_s": 2.24e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141753_00033", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141753_00033", + "--control-generation", + "33", + "--ready-token", + "5e7e832ef1474531b8fb03622036bf1d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822673542672335, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "timing": { + "server_start_request_time_ns": 1792822673536776710, + "subprocess_popen_time_ns": 1792822673542672335, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822673523640943, + "ended_time_ns": 1792822673523840403, + "duration_s": 0.00019946, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822673523644720, + "ok": true, + "ended_time_ns": 1792822673523652498, + "duration_s": 7.778e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822673523654146, + "ok": true, + "ended_time_ns": 1792822673523656609, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822673523657146, + "ok": true, + "ended_time_ns": 1792822673523660257, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822673523660609, + "ok": true, + "ended_time_ns": 1792822673523829662, + "duration_s": 0.000169053 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822673523830903, + "ok": true, + "ended_time_ns": 1792822673523834199, + "duration_s": 3.296e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822673523834718, + "ok": true, + "ended_time_ns": 1792822673523837403, + "duration_s": 2.685e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822673523837755, + "ok": true, + "ended_time_ns": 1792822673523839995, + "duration_s": 2.24e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 33, + "ready_token": "5e7e832ef1474531b8fb03622036bf1d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2172, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671626685193, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822673143219099, + "capture_count": 412, + "capture_error_count": 0, + "writer_count": 215, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.02929687500001, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822673141224385, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822673146931290 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822673333491131, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7070, + "displayed_count": 6898, + "dropped_count": 171, + "decode_error_count": 0, + "last_receive_time_ns": 1792822673252989085, + "last_frame_time_ns": 1792822673226257315, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671626685193, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822673143219099, + "capture_count": 412, + "capture_error_count": 0, + "writer_count": 215, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.02929687500001, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822673141224385, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822673146931290 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822673536388593, + "ended_time_ns": 1792822673558367259 + }, + "pi_start_request_time_ns": 1792822673558376747, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822673562492618, + "capture_start_time_ns": 1792822676955864567, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822682532198089, + "capture_stop_time_ns": 1792822683485137296, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141753_00033", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141753_00033", + "--control-generation", + "33", + "--ready-token", + "5e7e832ef1474531b8fb03622036bf1d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822673542672335, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "capture_start_time_ns": 1792822676955864567, + "capture_stop_time_ns": 1792822683485137296, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "timing": { + "server_start_request_time_ns": 1792822673536776710, + "subprocess_popen_time_ns": 1792822673542672335, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822673556582925, + "validate_start_time_ns": 1792822674488929989, + "session_dir_create_start_time_ns": 1792822673557299045, + "session_dir_create_end_time_ns": 1792822673559985898, + "as5600_init_start_time_ns": 1792822673560872238, + "as5600_init_end_time_ns": 1792822673561807781, + "as5600_zero_start_time_ns": 1792822673563258669, + "as5600_zero_end_time_ns": 1792822674368494203, + "camera_init_start_time_ns": 1792822674369905276, + "camera_init_end_time_ns": 1792822674371718437, + "camera_start_start_time_ns": 1792822674372556500, + "camera_start_end_time_ns": 1792822674373846038, + "camera_first_frame_wait_start_time_ns": 1792822674376873590, + "camera_first_frame_wait_end_time_ns": 1792822674378285015, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822674379494277, + "armed_time_ns": 1792822674486952682, + "waiting_t0_time_ns": 1792822674490900277, + "recording_start_time_ns": 1792822676959693480, + "stop_request_time_ns": 1792822682532084878, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822673523640943, + "ended_time_ns": 1792822673523840403, + "duration_s": 0.00019946, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822673523644720, + "ok": true, + "ended_time_ns": 1792822673523652498, + "duration_s": 7.778e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822673523654146, + "ok": true, + "ended_time_ns": 1792822673523656609, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822673523657146, + "ok": true, + "ended_time_ns": 1792822673523660257, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822673523660609, + "ok": true, + "ended_time_ns": 1792822673523829662, + "duration_s": 0.000169053 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822673523830903, + "ok": true, + "ended_time_ns": 1792822673523834199, + "duration_s": 3.296e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822673523834718, + "ok": true, + "ended_time_ns": 1792822673523837403, + "duration_s": 2.685e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822673523837755, + "ok": true, + "ended_time_ns": 1792822673523839995, + "duration_s": 2.24e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 33, + "ready_token": "5e7e832ef1474531b8fb03622036bf1d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "arm_request_id": "2b8f91b317994affa952f4df306bf17d", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2172, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_141753_00033", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671626685193, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822673540367329, + "capture_count": 428, + "capture_error_count": 0, + "writer_count": 215, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.02929687500001, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 164, + "max_queue_depth": 164, + "read_count": 164, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822673541117541, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822673553294599 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822682533424295, + "ended_time_ns": 1792822682547469512, + "capture_stop_time_ns": 1792822683485137296, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_141753_00033", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 143131 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 142245 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141684 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 142397 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 142245 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129706 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141753_00033", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141753_00033", + "--control-generation", + "33", + "--ready-token", + "5e7e832ef1474531b8fb03622036bf1d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822683502970843, + "ended_time_ns": 1792822683518138799, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "capture_start_time_ns": 1792822676955864567, + "capture_stop_time_ns": 1792822683485137296, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "timing": { + "server_start_request_time_ns": 1792822673536776710, + "subprocess_popen_time_ns": 1792822673542672335, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822673556582925, + "validate_start_time_ns": 1792822674488929989, + "session_dir_create_start_time_ns": 1792822673557299045, + "session_dir_create_end_time_ns": 1792822673559985898, + "as5600_init_start_time_ns": 1792822673560872238, + "as5600_init_end_time_ns": 1792822673561807781, + "as5600_zero_start_time_ns": 1792822673563258669, + "as5600_zero_end_time_ns": 1792822674368494203, + "camera_init_start_time_ns": 1792822674369905276, + "camera_init_end_time_ns": 1792822674371718437, + "camera_start_start_time_ns": 1792822674372556500, + "camera_start_end_time_ns": 1792822674373846038, + "camera_first_frame_wait_start_time_ns": 1792822674376873590, + "camera_first_frame_wait_end_time_ns": 1792822674378285015, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822674379494277, + "armed_time_ns": 1792822674486952682, + "waiting_t0_time_ns": 1792822674490900277, + "recording_start_time_ns": 1792822676959693480, + "stop_request_time_ns": 1792822682536823926, + "finalized_time_ns": 1792822683494384650 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822673523640943, + "ended_time_ns": 1792822673523840403, + "duration_s": 0.00019946, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822673523644720, + "ok": true, + "ended_time_ns": 1792822673523652498, + "duration_s": 7.778e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822673523654146, + "ok": true, + "ended_time_ns": 1792822673523656609, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822673523657146, + "ok": true, + "ended_time_ns": 1792822673523660257, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822673523660609, + "ok": true, + "ended_time_ns": 1792822673523829662, + "duration_s": 0.000169053 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822673523830903, + "ok": true, + "ended_time_ns": 1792822673523834199, + "duration_s": 3.296e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822673523834718, + "ok": true, + "ended_time_ns": 1792822673523837403, + "duration_s": 2.685e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822673523837755, + "ok": true, + "ended_time_ns": 1792822673523839995, + "duration_s": 2.24e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 33, + "ready_token": "5e7e832ef1474531b8fb03622036bf1d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "arm_request_id": "2b8f91b317994affa952f4df306bf17d", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2172, + "time_sync_initialized": true, + "worker_status": { + 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"preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7153, + "displayed_count": 6976, + "dropped_count": 176, + "decode_error_count": 0, + "last_receive_time_ns": 1792822682913211453, + "last_frame_time_ns": 1792822683004599649, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141753_00033", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 33, + "last_bootstrap_time_ns": 1792822683495784965, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822683483701831, + "capture_count": 365, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 80.75815594221567, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + 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1792822683538025163 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c400420d8928761235344189b00d2ca966fb4d1b --- /dev/null +++ b/stack the blocks/session_20261024_141753_00033/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822673565120384, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the 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0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822676955864567, + "capture_stop_time_ns": 1792822683485137296, + "effective_capture_stop_time_ns": 1792822683485137296, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_141753_00033", + "control_generation": 33, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822676955864567, + "capture_stop_time_ns": 1792822683485137296 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 271.318359375, + "reference_source": "max_open_init", + "zero_angle_deg": 271.318359375, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 5.982e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822676957828044, + "camera_frame_count": 261, + "camera_started_time_ns": 1792822674381142569, + "camera_stopped_time_ns": 1792822683487768094, + "camera_actual_fps": 28.660451589174137, + "camera_first_frame_time_ns": 1792822676982786229, + "camera_last_frame_time_ns": 1792822683476666360, + "camera_frame_timestamp_fps": 40.03769622399271, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822683476666360, + "capture_count": 365, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 392, + "clamp_first_sample_time_ns": 1792822676962359133, + "clamp_last_sample_time_ns": 1792822683479037116, + "clamp_actual_hz": 59.99989580887658, + "clamp_value_min": 100.0, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 203, + "read_count": 760, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1631 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141753_00033/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141753_00033/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..60c79bba90965dd2dc2295eaa3bf6c181089b3de --- /dev/null +++ b/stack the blocks/session_20261024_141753_00033/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822673498706969, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_141753_00033", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141753_00033/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141741_00032", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141741_00032", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141741_00032", + "--control-generation", + "32", + "--ready-token", + "f5276d81962247f99f433542cd0c1b4d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822673499208566, + "ended_time_ns": 1792822673524310356, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.stop", + 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"import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822662002854051, + "validate_start_time_ns": 1792822662966298199, + "session_dir_create_start_time_ns": 1792822662003683303, + "session_dir_create_end_time_ns": 1792822662004717831, + "as5600_init_start_time_ns": 1792822662005794248, + "as5600_init_end_time_ns": 1792822662006648314, + "as5600_zero_start_time_ns": 1792822662008060783, + "as5600_zero_end_time_ns": 1792822662814557512, + "camera_init_start_time_ns": 1792822662816987657, + "camera_init_end_time_ns": 1792822662819959613, + "camera_start_start_time_ns": 1792822662822684644, + "camera_start_end_time_ns": 1792822662825761598, + "camera_first_frame_wait_start_time_ns": 1792822662829784932, + "camera_first_frame_wait_end_time_ns": 1792822662831424585, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822662832933145, + "armed_time_ns": 1792822662962505640, + "waiting_t0_time_ns": 1792822662967734890, + "recording_start_time_ns": 1792822665439041210, + "stop_request_time_ns": 1792822669922744694, + "finalized_time_ns": 1792822670821260327 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822673287604617, + "ended_time_ns": 1792822673288680459, + "duration_s": 0.001075842, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822673287687579, + "ended_time_ns": 1792822673287896021, + "duration_s": 0.000208442, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822673287691190, + "ok": true, + "ended_time_ns": 1792822673287698486, + "duration_s": 7.296e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822673287699468, + "ok": true, + "ended_time_ns": 1792822673287702245, + "duration_s": 2.777e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822673287702838, + "ok": true, + "ended_time_ns": 1792822673287705968, + "duration_s": 3.13e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822673287706357, + "ok": true, + "ended_time_ns": 1792822673287885188, + "duration_s": 0.000178831 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822673287886188, + "ok": true, + "ended_time_ns": 1792822673287889707, + "duration_s": 3.519e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822673287890244, + "ok": true, + "ended_time_ns": 1792822673287893059, + "duration_s": 2.815e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822673287893410, + "ok": true, + "ended_time_ns": 1792822673287895540, + "duration_s": 2.13e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822673288535775, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822673133271824, + "frame_age_s": 0.155290432, + "heartbeat_age_s": 0.138794376, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822673288566423, + "duration_s": 3.0648e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822673288567923, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 271.2524414030185, + "sample_observed_time_ns": 1792822673145693917, + "sample_age_s": 0.142880284, + "heartbeat_age_s": 0.138819098, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822673288577090, + "duration_s": 9.167e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822673288578015, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822673288580460, + "duration_s": 2.445e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822673288581441, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822673288679015, + "duration_s": 9.7574e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 32, + "ready_token": "f5276d81962247f99f433542cd0c1b4d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141741_00032.ready.json", + "arm_request_id": "febebefc7ea045e39d0d61995dbc6788", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 2999, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671631092749, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822673133271824, + "capture_count": 413, + "capture_error_count": 0, + "writer_count": 216, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 271.2524414030185, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822673145693917, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822673149751732 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822672777927190, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6575, + "displayed_count": 5243, + "dropped_count": 1330, + "decode_error_count": 0, + "last_receive_time_ns": 1792822672704977747, + "last_frame_time_ns": 1792822672668209092, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671631092749, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822673133271824, + "capture_count": 413, + "capture_error_count": 0, + "writer_count": 216, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 271.2524414030185, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822673145693917, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822673149751732 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822673527317358, + "ended_time_ns": 1792822673537452362, + "duration_s": 0.000443793, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822673531489557, + "ok": true, + "ended_time_ns": 1792822673531498520, + "duration_s": 8.963e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822673531500539, + "ok": true, + "ended_time_ns": 1792822673531503705, + "duration_s": 3.166e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822673531504205, + "ok": true, + "ended_time_ns": 1792822673531507464, + "duration_s": 3.259e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822673531507835, + "ok": true, + "ended_time_ns": 1792822673531897961, + "duration_s": 0.000390126 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822673531902202, + "ok": true, + "ended_time_ns": 1792822673531916387, + "duration_s": 1.4185e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822673531917924, + "ok": true, + "ended_time_ns": 1792822673531924850, + "duration_s": 6.926e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822673531925368, + "ok": true, + "ended_time_ns": 1792822673531928164, + "duration_s": 2.796e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141753_00033", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141753_00033", + "--control-generation", + "33", + "--ready-token", + "daa5ca83753141c2bcbf00d8f6eca852", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822673548358611, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/right_hand", + "timing": { + "server_start_request_time_ns": 1792822673543583875, + "subprocess_popen_time_ns": 1792822673548358611, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822673531485594, + "ended_time_ns": 1792822673531929387, + "duration_s": 0.000443793, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822673531489557, + "ok": true, + "ended_time_ns": 1792822673531498520, + "duration_s": 8.963e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822673531500539, + "ok": true, + "ended_time_ns": 1792822673531503705, + "duration_s": 3.166e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822673531504205, + "ok": true, + "ended_time_ns": 1792822673531507464, + "duration_s": 3.259e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822673531507835, + "ok": true, + "ended_time_ns": 1792822673531897961, + "duration_s": 0.000390126 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822673531902202, + "ok": true, + "ended_time_ns": 1792822673531916387, + "duration_s": 1.4185e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822673531917924, + "ok": true, + "ended_time_ns": 1792822673531924850, + "duration_s": 6.926e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822673531925368, + "ok": true, + "ended_time_ns": 1792822673531928164, + "duration_s": 2.796e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 33, + "ready_token": "daa5ca83753141c2bcbf00d8f6eca852", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3000, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671631092749, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822673133271824, + "capture_count": 413, + "capture_error_count": 0, + "writer_count": 216, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 271.2524414030185, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822673145693917, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822673149751732 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822672777927190, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6575, + "displayed_count": 5243, + "dropped_count": 1330, + "decode_error_count": 0, + "last_receive_time_ns": 1792822672704977747, + "last_frame_time_ns": 1792822672668209092, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141741_00032", + "generation": 32, + "session_count": 32, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671631092749, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822673133271824, + "capture_count": 413, + "capture_error_count": 0, + "writer_count": 216, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 271.2524414030185, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822673145693917, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822673149751732 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822673540995106, + "ended_time_ns": 1792822673562288524 + }, + "pi_start_request_time_ns": 1792822673562295989, + "capture_start_time_ns": 1792822676955864567, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822682628991870, + "capture_stop_time_ns": 1792822683485137296, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141753_00033", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141753_00033", + "--control-generation", + "33", + "--ready-token", + "daa5ca83753141c2bcbf00d8f6eca852", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822673548358611, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "capture_start_time_ns": 1792822676955864567, + "capture_stop_time_ns": 1792822683485137296, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/right_hand", + "timing": { + "server_start_request_time_ns": 1792822673543583875, + "subprocess_popen_time_ns": 1792822673548358611, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822673561582789, + "validate_start_time_ns": 1792822674478112558, + "session_dir_create_start_time_ns": 1792822673564482393, + "session_dir_create_end_time_ns": 1792822673565442422, + "as5600_init_start_time_ns": 1792822673566461672, + "as5600_init_end_time_ns": 1792822673567402367, + "as5600_zero_start_time_ns": 1792822673569017334, + "as5600_zero_end_time_ns": 1792822674375305195, + "camera_init_start_time_ns": 1792822674377063328, + "camera_init_end_time_ns": 1792822674381147588, + "camera_start_start_time_ns": 1792822674383456938, + "camera_start_end_time_ns": 1792822674385253496, + "camera_first_frame_wait_start_time_ns": 1792822674387005869, + "camera_first_frame_wait_end_time_ns": 1792822674388682224, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822674390241822, + "armed_time_ns": 1792822674476604794, + "waiting_t0_time_ns": 1792822674482279521, + "recording_start_time_ns": 1792822676957853859, + "stop_request_time_ns": 1792822682633984267, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822673531485594, + "ended_time_ns": 1792822673531929387, + "duration_s": 0.000443793, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822673531489557, + "ok": true, + "ended_time_ns": 1792822673531498520, + "duration_s": 8.963e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822673531500539, + "ok": true, + "ended_time_ns": 1792822673531503705, + "duration_s": 3.166e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822673531504205, + "ok": true, + "ended_time_ns": 1792822673531507464, + "duration_s": 3.259e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822673531507835, + "ok": true, + "ended_time_ns": 1792822673531897961, + "duration_s": 0.000390126 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822673531902202, + "ok": true, + "ended_time_ns": 1792822673531916387, + "duration_s": 1.4185e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822673531917924, + "ok": true, + "ended_time_ns": 1792822673531924850, + "duration_s": 6.926e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822673531925368, + "ok": true, + "ended_time_ns": 1792822673531928164, + "duration_s": 2.796e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 33, + "ready_token": "daa5ca83753141c2bcbf00d8f6eca852", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "arm_request_id": "2b8f91b317994affa952f4df306bf17d", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3000, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_141753_00033", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 32, + "last_bootstrap_time_ns": 1792822671631092749, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822673533810648, + "capture_count": 429, + "capture_error_count": 0, + "writer_count": 216, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 271.2524414030185, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 164, + "max_queue_depth": 164, + "read_count": 164, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822673545698764, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822673556688203 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822682629322831, + "ended_time_ns": 1792822682644746616, + "capture_stop_time_ns": 1792822683485137296, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141753_00033", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141753_00033", + "--control-generation", + "33", + "--ready-token", + "daa5ca83753141c2bcbf00d8f6eca852", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822684673293971, + "ended_time_ns": 1792822684702439361, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "capture_start_time_ns": 1792822676955864567, + "capture_stop_time_ns": 1792822683485137296, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/right_hand", + "timing": { + "server_start_request_time_ns": 1792822673543583875, + "subprocess_popen_time_ns": 1792822673548358611, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822673561582789, + "validate_start_time_ns": 1792822674478112558, + "session_dir_create_start_time_ns": 1792822673564482393, + "session_dir_create_end_time_ns": 1792822673565442422, + "as5600_init_start_time_ns": 1792822673566461672, + "as5600_init_end_time_ns": 1792822673567402367, + "as5600_zero_start_time_ns": 1792822673569017334, + "as5600_zero_end_time_ns": 1792822674375305195, + "camera_init_start_time_ns": 1792822674377063328, + "camera_init_end_time_ns": 1792822674381147588, + "camera_start_start_time_ns": 1792822674383456938, + "camera_start_end_time_ns": 1792822674385253496, + "camera_first_frame_wait_start_time_ns": 1792822674387005869, + "camera_first_frame_wait_end_time_ns": 1792822674388682224, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822674390241822, + "armed_time_ns": 1792822674476604794, + "waiting_t0_time_ns": 1792822674482279521, + "recording_start_time_ns": 1792822676957853859, + "stop_request_time_ns": 1792822682636741650, + "finalized_time_ns": 1792822683489253618 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822673531485594, + "ended_time_ns": 1792822673531929387, + "duration_s": 0.000443793, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822673531489557, + "ok": true, + "ended_time_ns": 1792822673531498520, + "duration_s": 8.963e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822673531500539, + "ok": true, + "ended_time_ns": 1792822673531503705, + "duration_s": 3.166e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822673531504205, + "ok": true, + "ended_time_ns": 1792822673531507464, + "duration_s": 3.259e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822673531507835, + "ok": true, + "ended_time_ns": 1792822673531897961, + "duration_s": 0.000390126 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822673531902202, + "ok": true, + "ended_time_ns": 1792822673531916387, + "duration_s": 1.4185e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822673531917924, + "ok": true, + "ended_time_ns": 1792822673531924850, + "duration_s": 6.926e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822673531925368, + "ok": true, + "ended_time_ns": 1792822673531928164, + "duration_s": 2.796e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 33, + "ready_token": "daa5ca83753141c2bcbf00d8f6eca852", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "arm_request_id": "2b8f91b317994affa952f4df306bf17d", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3000, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141753_00033", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 33, + "last_bootstrap_time_ns": 1792822684299915440, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822684302678452, + "capture_count": 398, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": 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"expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 33, + "ready_token": "5e7e832ef1474531b8fb03622036bf1d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "arm_request_id": "2b8f91b317994affa952f4df306bf17d", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2172, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141753_00033", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 33, + "last_bootstrap_time_ns": 1792822683495784965, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822686007392054, + "capture_count": 466, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 82.8790779711078, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 204, + "read_count": 913, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822686024443861, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822686027748150 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822685111176726, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7171, + "displayed_count": 6993, + "dropped_count": 177, + "decode_error_count": 0, + "last_receive_time_ns": 1792822685013583798, + "last_frame_time_ns": 1792822684987254190, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141753_00033", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 33, + "last_bootstrap_time_ns": 1792822683495784965, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822686007392054, + "capture_count": 466, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 82.8790779711078, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 204, + "read_count": 913, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822686024443861, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822686027748150 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822686177344977, + "ended_time_ns": 1792822686191964783, + "duration_s": 0.001964992, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822686181044902, + "ended_time_ns": 1792822686181548062, + "duration_s": 0.00050316, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822686181048643, + "ok": true, + "ended_time_ns": 1792822686181057013, + "duration_s": 8.37e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822686181058161, + "ok": true, + "ended_time_ns": 1792822686181060846, + "duration_s": 2.685e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822686181061217, + "ok": true, + "ended_time_ns": 1792822686181063939, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822686181064291, + "ok": true, + "ended_time_ns": 1792822686181458508, + "duration_s": 0.000394217 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822686181464082, + "ok": true, + "ended_time_ns": 1792822686181526007, + "duration_s": 6.1925e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822686181530192, + "ok": true, + "ended_time_ns": 1792822686181539043, + "duration_s": 8.851e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822686181540580, + "ok": true, + "ended_time_ns": 1792822686181546525, + "duration_s": 5.945e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822686182731639, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822686007392054, + "frame_age_s": 0.17537364, + "heartbeat_age_s": 0.154998136, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822686182770471, + "duration_s": 3.8832e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822686182772453, + "status_ok": true, + "gap_mm": 82.8790779711078, + "reference_angle_deg": 105.64453125000003, + "sample_observed_time_ns": 1792822686024443861, + "sample_age_s": 0.15833624, + "heartbeat_age_s": 0.155027136, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822686182783527, + "duration_s": 1.1074e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822686182787749, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822686182908025, + "duration_s": 0.000120276 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822686191990856, + "ended_time_ns": 1792822686293993354, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141753_00033", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141753_00033", + "--control-generation", + "33", + "--ready-token", + "daa5ca83753141c2bcbf00d8f6eca852", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822686294010917, + "ended_time_ns": 1792822686307136833, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "capture_start_time_ns": 1792822676955864567, + "capture_stop_time_ns": 1792822683485137296, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/right_hand", + "timing": { + "server_start_request_time_ns": 1792822673543583875, + "subprocess_popen_time_ns": 1792822673548358611, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822673561582789, + "validate_start_time_ns": 1792822674478112558, + "session_dir_create_start_time_ns": 1792822673564482393, + "session_dir_create_end_time_ns": 1792822673565442422, + "as5600_init_start_time_ns": 1792822673566461672, + "as5600_init_end_time_ns": 1792822673567402367, + "as5600_zero_start_time_ns": 1792822673569017334, + "as5600_zero_end_time_ns": 1792822674375305195, + "camera_init_start_time_ns": 1792822674377063328, + "camera_init_end_time_ns": 1792822674381147588, + "camera_start_start_time_ns": 1792822674383456938, + "camera_start_end_time_ns": 1792822674385253496, + "camera_first_frame_wait_start_time_ns": 1792822674387005869, + "camera_first_frame_wait_end_time_ns": 1792822674388682224, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822674390241822, + "armed_time_ns": 1792822674476604794, + "waiting_t0_time_ns": 1792822674482279521, + "recording_start_time_ns": 1792822676957853859, + "stop_request_time_ns": 1792822682636741650, + "finalized_time_ns": 1792822683489253618 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822673531485594, + "ended_time_ns": 1792822673531929387, + "duration_s": 0.000443793, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822673531489557, + "ok": true, + "ended_time_ns": 1792822673531498520, + "duration_s": 8.963e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822673531500539, + "ok": true, + "ended_time_ns": 1792822673531503705, + "duration_s": 3.166e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822673531504205, + "ok": true, + "ended_time_ns": 1792822673531507464, + "duration_s": 3.259e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822673531507835, + "ok": true, + "ended_time_ns": 1792822673531897961, + "duration_s": 0.000390126 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822673531902202, + "ok": true, + "ended_time_ns": 1792822673531916387, + "duration_s": 1.4185e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822673531917924, + "ok": true, + "ended_time_ns": 1792822673531924850, + "duration_s": 6.926e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822673531925368, + "ok": true, + "ended_time_ns": 1792822673531928164, + "duration_s": 2.796e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 33, + "ready_token": "daa5ca83753141c2bcbf00d8f6eca852", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "arm_request_id": "2b8f91b317994affa952f4df306bf17d", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3000, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141753_00033", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 33, + "last_bootstrap_time_ns": 1792822684299915440, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822685800922025, + "capture_count": 458, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 276.6796875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822685814644477, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822685820801348 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + 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0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 33, + "last_bootstrap_time_ns": 1792822684299915440, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822685800922025, + "capture_count": 458, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + 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"http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + 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+ "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822686330150679, + "ended_time_ns": 1792822686339811351, + "duration_s": 0.000983066, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822686332154057, + "ended_time_ns": 1792822686332353388, + "duration_s": 0.000199331, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822686332157983, + "ok": true, + "ended_time_ns": 1792822686332165186, + "duration_s": 7.203e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822686332166445, + "ok": true, + "ended_time_ns": 1792822686332169427, + "duration_s": 2.982e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822686332169927, + "ok": true, + "ended_time_ns": 1792822686332172816, + "duration_s": 2.889e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822686332173168, + "ok": true, + "ended_time_ns": 1792822686332344203, + "duration_s": 0.000171035 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822686332345203, + "ok": true, + "ended_time_ns": 1792822686332348092, + "duration_s": 2.889e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822686332348592, + "ok": true, + "ended_time_ns": 1792822686332350888, + "duration_s": 2.296e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822686332351203, + "ok": true, + "ended_time_ns": 1792822686332352907, + "duration_s": 1.704e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822686332920439, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822686325037379, + "frame_age_s": 0.007907911, + "heartbeat_age_s": 0.005591228, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822686332948957, + "duration_s": 2.8518e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822686332950938, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 276.6796875, + "sample_observed_time_ns": 1792822686314648194, + "sample_age_s": 0.018309281, + "heartbeat_age_s": 0.005614098, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822686332959957, + "duration_s": 9.019e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822686332964494, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822686333057030, + "duration_s": 9.2536e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822686339838838, + "ended_time_ns": 1792822686445601429, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823208741202676, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823202509153482, + "ended_time_ns": 1792823202524402976, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823202524497001, + "ended_time_ns": 1792823202569445316, + "transferred_bytes": 13699, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,699 bytes\nTotal transferred file size: 13,699 bytes\nLiteral data: 13,699 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,835\n\nsent 46 bytes received 13,835 bytes 27,762.00 bytes/sec\ntotal size is 13,699 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823202569691062, + "ended_time_ns": 1792823208739644547, + "transferred_bytes": 6656887, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 6,656,887 bytes\nTotal transferred file size: 6,656,887 bytes\nLiteral data: 6,656,887 bytes\nMatched data: 0 bytes\nFile list size: 228\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 6,658,933\n\nsent 168 bytes received 6,658,933 bytes 1,024,477.08 bytes/sec\ntotal size is 6,656,887 speedup is 1.00" + } + ], + "transferred_bytes": 6670586, + "copied_local_bytes": 7100017, + "started_time_ns": 1792823202508778699, + "ended_time_ns": 1792823208740247861 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823202509184240, + "ended_time_ns": 1792823202527319115, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823202527368568, + "ended_time_ns": 1792823202576980766, + "transferred_bytes": 13712, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,712 bytes\nTotal transferred file size: 13,712 bytes\nLiteral data: 13,712 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,848\n\nsent 46 bytes received 13,848 bytes 27,788.00 bytes/sec\ntotal size is 13,712 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823202577225014, + "ended_time_ns": 1792823203127497148, + "transferred_bytes": 7541587, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 7,541,587 bytes\nTotal transferred file size: 7,541,587 bytes\nLiteral data: 7,541,587 bytes\nMatched data: 0 bytes\nFile list size: 219\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 7,543,836\n\nsent 168 bytes received 7,543,836 bytes 5,029,336.00 bytes/sec\ntotal size is 7,541,587 speedup is 1.00" + } + ], + "transferred_bytes": 7555299, + "copied_local_bytes": 7968777, + "started_time_ns": 1792823202508961231, + "ended_time_ns": 1792823203127730055 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_141806_00034", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823377840526789, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823377447408417, + "ended_time_ns": 1792823377840110415, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823377447408417, + "ended_time_ns": 1792823377658481331, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141806_00034", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141806_00034_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141806_00034 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141806_00034_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141806_00034_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141806_00034_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141806_00034\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822690016428913\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822690016428913，vive_T0=1792822690016428913，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822695594494723，vive_Tstop=1792822695594494723，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005467s，first=1792822690021896289，T0=1792822690016428913，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002819s，last=1792822695591675685，Tstop=1792822695594494723，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1115\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.007921462748 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.007921462748 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1115，metadata 1115\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00792146069654 Hz，最低 150.0 Hz，时长 5.569779396057129 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00792146069654 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005776643753051758s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994337376..1.0000000005782324，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0024363829680577732m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.6354349692449597deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=223 duration=5.575s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=223，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 223，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=222，rows=223，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=223，monotonic违规=0，估算频率=40.00577962416993Hz，最大间隔=0.035296673s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 223，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.005778564404324 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.005778564404324 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.035296469s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 335，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.0403..99.8081\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 335，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99992899888644 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99992899888644 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021610524s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=335，bad_rows=0，monotonic违规=0，估算频率=59.99992760847057Hz，最大间隔=0.021611005s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 223，metadata 223\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 335，metadata 335\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 223，timestamps 223，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=223，timestamps=223，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.026s，video=5.575s，timestamps=5.5491983399999985s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.017s，camera=5.5491983399999985s，clamp=5.566673253999998s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822690016428913，pi_T0=1792822690016428913，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822695594494723，pi_Tstop=1792822695594494723，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013213s，first=1792822690029641628，T0=1792822690016428913，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.008014s，first=1792822690024443179，T0=1792822690016428913，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.015655s，last=1792822695578839968，Tstop=1792822695594494723，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.003378s，last=1792822695591116433，Tstop=1792822695594494723，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.020581s，vive=5.569779396s，camera=5.5491983399999985s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.003106s，vive=5.569779396s，clamp=5.566673253999998s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.007745s，vive_first=1792822690021896289，camera_first=1792822690029641628，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.002547s，vive_first=1792822690021896289，clamp_first=1792822690024443179，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.012836s，vive_last=1792822695591675685，camera_last=1792822695578839968，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.000559s，vive_last=1792822695591675685，clamp_last=1792822695591116433，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141806_00034_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823377659282502, + "ended_time_ns": 1792823377840110415, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141806_00034", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141806_00034_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141806_00034 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141806_00034_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141806_00034_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141806_00034_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141806_00034\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822690016428913\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822690016428913，vive_T0=1792822690016428913，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822695594494723，vive_Tstop=1792822695594494723，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005467s，first=1792822690021896289，T0=1792822690016428913，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002819s，last=1792822695591675685，Tstop=1792822695594494723，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1115\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.007921462748 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.007921462748 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1115，metadata 1115\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00792146069654 Hz，最低 150.0 Hz，时长 5.569779396057129 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00792146069654 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005776643753051758s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994897211..1.0000000005560117，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0034630918987999726m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.23942606802464073deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=223 duration=5.575s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=223，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 223，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=222，rows=223，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=223，monotonic违规=0，估算频率=40.01137494552675Hz，最大间隔=0.031264111s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 223，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.01137627961855 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.01137627961855 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.031264203s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 334，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 54.1706..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 334，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.0023050507131 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.0023050507131 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019474549s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=334，bad_rows=0，monotonic违规=0，估算频率=60.0023062508053Hz，最大间隔=0.019475679s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 223，metadata 223\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 334，metadata 334\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 223，timestamps 223，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=223，timestamps=223，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.027s，video=5.575s，timestamps=5.5484219900000005s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.001s，camera=5.5484219900000005s，clamp=5.549786790999998s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822690016428913，pi_T0=1792822690016428913，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822695594494723，pi_Tstop=1792822695594494723，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.006046s，first=1792822690022475027，T0=1792822690016428913，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.015094s，first=1792822690031522651，T0=1792822690016428913，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.023598s，last=1792822695570897017，Tstop=1792822695594494723，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.013185s，last=1792822695581309442，Tstop=1792822695594494723，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.021357s，vive=5.569779396s，camera=5.5484219900000005s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.019993s，vive=5.569779396s，clamp=5.549786790999998s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.000579s，vive_first=1792822690021896289，camera_first=1792822690022475027，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.009626s，vive_first=1792822690021896289，clamp_first=1792822690031522651，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.020779s，vive_last=1792822695591675685，camera_last=1792822695570897017，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.010366s，vive_last=1792822695591675685，clamp_last=1792822695581309442，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141806_00034_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141806_00034_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141806_00034\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822690016428913\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822690016428913，vive_T0=1792822690016428913，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822695594494723，vive_Tstop=1792822695594494723，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005467s，first=1792822690021896289，T0=1792822690016428913，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002819s，last=1792822695591675685，Tstop=1792822695594494723，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1115\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.007921462748 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.007921462748 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1115，metadata 1115\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00792146069654 Hz，最低 150.0 Hz，时长 5.569779396057129 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00792146069654 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005776643753051758s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994337376..1.0000000005782324，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0024363829680577732m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.6354349692449597deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=223 duration=5.575s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=223，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 223，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=222，rows=223，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=223，monotonic违规=0，估算频率=40.00577962416993Hz，最大间隔=0.035296673s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 223，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.005778564404324 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.005778564404324 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.035296469s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 335，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.0403..99.8081\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 335，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99992899888644 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99992899888644 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021610524s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=335，bad_rows=0，monotonic违规=0，估算频率=59.99992760847057Hz，最大间隔=0.021611005s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 223，metadata 223\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 335，metadata 335\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 223，timestamps 223，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=223，timestamps=223，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.026s，video=5.575s，timestamps=5.5491983399999985s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.017s，camera=5.5491983399999985s，clamp=5.566673253999998s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822690016428913，pi_T0=1792822690016428913，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822695594494723，pi_Tstop=1792822695594494723，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013213s，first=1792822690029641628，T0=1792822690016428913，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.008014s，first=1792822690024443179，T0=1792822690016428913，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.015655s，last=1792822695578839968，Tstop=1792822695594494723，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.003378s，last=1792822695591116433，Tstop=1792822695594494723，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.020581s，vive=5.569779396s，camera=5.5491983399999985s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.003106s，vive=5.569779396s，clamp=5.566673253999998s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.007745s，vive_first=1792822690021896289，camera_first=1792822690029641628，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.002547s，vive_first=1792822690021896289，clamp_first=1792822690024443179，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.012836s，vive_last=1792822695591675685，camera_last=1792822695578839968，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.000559s，vive_last=1792822695591675685，clamp_last=1792822695591116433，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141806_00034_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141806_00034\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822690016428913\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822690016428913，vive_T0=1792822690016428913，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822695594494723，vive_Tstop=1792822695594494723，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005467s，first=1792822690021896289，T0=1792822690016428913，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002819s，last=1792822695591675685，Tstop=1792822695594494723，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1115\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.007921462748 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.007921462748 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1115，metadata 1115\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00792146069654 Hz，最低 150.0 Hz，时长 5.569779396057129 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00792146069654 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005776643753051758s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994897211..1.0000000005560117，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0034630918987999726m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.23942606802464073deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=223 duration=5.575s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=223，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 223，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=222，rows=223，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=223，monotonic违规=0，估算频率=40.01137494552675Hz，最大间隔=0.031264111s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 223，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.01137627961855 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.01137627961855 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.031264203s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 334，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 54.1706..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 334，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.0023050507131 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.0023050507131 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019474549s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=334，bad_rows=0，monotonic违规=0，估算频率=60.0023062508053Hz，最大间隔=0.019475679s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 223，metadata 223\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 334，metadata 334\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 223，timestamps 223，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=223，timestamps=223，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.027s，video=5.575s，timestamps=5.5484219900000005s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.001s，camera=5.5484219900000005s，clamp=5.549786790999998s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822690016428913，pi_T0=1792822690016428913，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822695594494723，pi_Tstop=1792822695594494723，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.006046s，first=1792822690022475027，T0=1792822690016428913，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.015094s，first=1792822690031522651，T0=1792822690016428913，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.023598s，last=1792822695570897017，Tstop=1792822695594494723，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.013185s，last=1792822695581309442，Tstop=1792822695594494723，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.021357s，vive=5.569779396s，camera=5.5484219900000005s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.019993s，vive=5.569779396s，clamp=5.549786790999998s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.000579s，vive_first=1792822690021896289，camera_first=1792822690022475027，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.009626s，vive_first=1792822690021896289，clamp_first=1792822690031522651，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.020779s，vive_last=1792822695591675685，camera_last=1792822695570897017，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.010366s，vive_last=1792822695591675685，clamp_last=1792822695581309442，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141806_00034_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141806_00034/control/stop_left_hand.flag b/stack the blocks/session_20261024_141806_00034/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..6e4f59a0ea89af0e780b2474a0fa53064b89a6b2 --- /dev/null +++ b/stack the blocks/session_20261024_141806_00034/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822695594494723 \ No newline at end of file diff --git a/stack the blocks/session_20261024_141806_00034/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the blocks/session_20261024_141806_00034/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 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"/home/zhang/TeleUMI", + "pi_data_root": "/home/zhang/TeleUMI/datasets" + }, + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + 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1792822694793134783, + "finalized_time_ns": 1792822695610504968 + }, + "last_error": null, + "capture_start_time_ns": 1792822690016428913, + "capture_stop_time_ns": 1792822695594494723 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "left_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822690016428913, + "capture_stop_time_ns": 1792822695594494723, + "effective_capture_stop_time_ns": 1792822695594494723, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_141806_00034", + "control_generation": 34, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822690016428913, + "capture_stop_time_ns": 1792822695594494723 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 104.50195312499997, + "reference_source": "max_open_init", + "zero_angle_deg": 104.50195312499997, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + 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"applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 335, + "clamp_first_sample_time_ns": 1792822690024443179, + "clamp_last_sample_time_ns": 1792822695591116433, + "clamp_actual_hz": 59.99992899888641, + "clamp_value_min": 99.04030677425702, + "clamp_value_max": 99.80806135485145, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 204, + "read_count": 1487, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1449 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141806_00034/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141806_00034/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..733afcb87c6830f3eef080cf3515c6cd0ad81391 --- /dev/null +++ b/stack the blocks/session_20261024_141806_00034/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822686556558201, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_141806_00034", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + 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"max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141753_00033", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141753_00033", + "--control-generation", + "33", + "--ready-token", + "5e7e832ef1474531b8fb03622036bf1d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822686557110047, + "ended_time_ns": 1792822686573366462, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "capture_start_time_ns": 1792822676955864567, + "capture_stop_time_ns": 1792822683485137296, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/left_hand", + "timing": { + "server_start_request_time_ns": 1792822673536776710, + "subprocess_popen_time_ns": 1792822673542672335, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822673556582925, + "validate_start_time_ns": 1792822674488929989, + "session_dir_create_start_time_ns": 1792822673557299045, + "session_dir_create_end_time_ns": 1792822673559985898, + "as5600_init_start_time_ns": 1792822673560872238, + "as5600_init_end_time_ns": 1792822673561807781, + "as5600_zero_start_time_ns": 1792822673563258669, + "as5600_zero_end_time_ns": 1792822674368494203, + "camera_init_start_time_ns": 1792822674369905276, + "camera_init_end_time_ns": 1792822674371718437, + "camera_start_start_time_ns": 1792822674372556500, + "camera_start_end_time_ns": 1792822674373846038, + "camera_first_frame_wait_start_time_ns": 1792822674376873590, + "camera_first_frame_wait_end_time_ns": 1792822674378285015, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822674379494277, + "armed_time_ns": 1792822674486952682, + "waiting_t0_time_ns": 1792822674490900277, + "recording_start_time_ns": 1792822676959693480, + "stop_request_time_ns": 1792822682536823926, + "finalized_time_ns": 1792822683494384650 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822686180944440, + "ended_time_ns": 1792822686182909432, + "duration_s": 0.001964992, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822686181044902, + "ended_time_ns": 1792822686181548062, + "duration_s": 0.00050316, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822686181048643, + "ok": true, + "ended_time_ns": 1792822686181057013, + "duration_s": 8.37e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822686181058161, + "ok": true, + "ended_time_ns": 1792822686181060846, + "duration_s": 2.685e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822686181061217, + "ok": true, + "ended_time_ns": 1792822686181063939, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822686181064291, + "ok": true, + "ended_time_ns": 1792822686181458508, + "duration_s": 0.000394217 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822686181464082, + "ok": true, + "ended_time_ns": 1792822686181526007, + "duration_s": 6.1925e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822686181530192, + "ok": true, + "ended_time_ns": 1792822686181539043, + "duration_s": 8.851e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822686181540580, + "ok": true, + "ended_time_ns": 1792822686181546525, + "duration_s": 5.945e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822686182731639, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822686007392054, + "frame_age_s": 0.17537364, + "heartbeat_age_s": 0.154998136, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822686182770471, + "duration_s": 3.8832e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822686182772453, + "status_ok": true, + "gap_mm": 82.8790779711078, + "reference_angle_deg": 105.64453125000003, + "sample_observed_time_ns": 1792822686024443861, + "sample_age_s": 0.15833624, + "heartbeat_age_s": 0.155027136, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822686182783527, + "duration_s": 1.1074e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822686182784434, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822686182786730, + "duration_s": 2.296e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822686182787749, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822686182908025, + "duration_s": 0.000120276 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 33, + "ready_token": "5e7e832ef1474531b8fb03622036bf1d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "arm_request_id": "2b8f91b317994affa952f4df306bf17d", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2172, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141753_00033", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 33, + "last_bootstrap_time_ns": 1792822683495784965, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822686531454075, + "capture_count": 487, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 82.8790779711078, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 204, + "read_count": 943, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822686524447910, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822686533553714 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822686246232432, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7181, + "displayed_count": 7003, + "dropped_count": 177, + "decode_error_count": 0, + "last_receive_time_ns": 1792822686166503709, + "last_frame_time_ns": 1792822686160009333, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141753_00033", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 33, + "last_bootstrap_time_ns": 1792822683495784965, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822686531454075, + "capture_count": 487, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 82.8790779711078, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 204, + "read_count": 943, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822686524447910, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822686533553714 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 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"import_numpy", + "started_time_ns": 1792822686576653060, + "ok": true, + "ended_time_ns": 1792822686576655819, + "duration_s": 2.759e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822686576656245, + "ok": true, + "ended_time_ns": 1792822686576659152, + "duration_s": 2.907e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822686576659485, + "ok": true, + "ended_time_ns": 1792822686576841298, + "duration_s": 0.000181813 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822686576842298, + "ok": true, + "ended_time_ns": 1792822686576845464, + "duration_s": 3.166e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822686576846001, + "ok": true, + "ended_time_ns": 1792822686576848446, + "duration_s": 2.445e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822686576848816, + "ok": true, + "ended_time_ns": 1792822686576850742, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": 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"System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, 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: 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 34, + "ready_token": "63dd279eec6a4f9caef3a5b4b285d3f7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2173, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141753_00033", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 33, + "last_bootstrap_time_ns": 1792822683495784965, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822686531454075, + "capture_count": 487, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 82.8790779711078, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 204, + "read_count": 943, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822686524447910, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822686533553714 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822686246232432, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7181, + "displayed_count": 7003, + "dropped_count": 177, + "decode_error_count": 0, + "last_receive_time_ns": 1792822686166503709, + "last_frame_time_ns": 1792822686160009333, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141753_00033", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 33, + "last_bootstrap_time_ns": 1792822683495784965, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822686531454075, + "capture_count": 487, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 82.8790779711078, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 204, + "read_count": 943, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822686524447910, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822686533553714 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822686589618434, + "ended_time_ns": 1792822686612828107 + }, + "pi_start_request_time_ns": 1792822686612835625, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822686616234968, + "capture_start_time_ns": 1792822690016428913, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822694793093248, + "capture_stop_time_ns": 1792822695594494723, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141806_00034", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141806_00034", + "--control-generation", + "34", + "--ready-token", + "63dd279eec6a4f9caef3a5b4b285d3f7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822686594112232, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "capture_start_time_ns": 1792822690016428913, + "capture_stop_time_ns": 1792822695594494723, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/left_hand", + "timing": { + "server_start_request_time_ns": 1792822686589314260, + "subprocess_popen_time_ns": 1792822686594112232, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822686643315440, + "validate_start_time_ns": 1792822687560009345, + "session_dir_create_start_time_ns": 1792822686644531516, + "session_dir_create_end_time_ns": 1792822686645742833, + "as5600_init_start_time_ns": 1792822686647615068, + "as5600_init_end_time_ns": 1792822686648570573, + "as5600_zero_start_time_ns": 1792822686649911166, + "as5600_zero_end_time_ns": 1792822687454334637, + "camera_init_start_time_ns": 1792822687456261000, + "camera_init_end_time_ns": 1792822687460638293, + "camera_start_start_time_ns": 1792822687461508689, + "camera_start_end_time_ns": 1792822687463282924, + "camera_first_frame_wait_start_time_ns": 1792822687464585240, + "camera_first_frame_wait_end_time_ns": 1792822687465854704, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822687466972300, + "armed_time_ns": 1792822687557125902, + "waiting_t0_time_ns": 1792822687561477991, + "recording_start_time_ns": 1792822690019864149, + "stop_request_time_ns": 1792822694792254424, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822686576640152, + "ended_time_ns": 1792822686576851149, + "duration_s": 0.000210997, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822686576643708, + "ok": true, + "ended_time_ns": 1792822686576651560, + "duration_s": 7.852e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822686576653060, + "ok": true, + "ended_time_ns": 1792822686576655819, + "duration_s": 2.759e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822686576656245, + "ok": true, + "ended_time_ns": 1792822686576659152, + "duration_s": 2.907e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822686576659485, + "ok": true, + "ended_time_ns": 1792822686576841298, + "duration_s": 0.000181813 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822686576842298, + "ok": true, + "ended_time_ns": 1792822686576845464, + "duration_s": 3.166e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822686576846001, + "ok": true, + "ended_time_ns": 1792822686576848446, + "duration_s": 2.445e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822686576848816, + "ok": true, + "ended_time_ns": 1792822686576850742, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 34, + "ready_token": "63dd279eec6a4f9caef3a5b4b285d3f7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "arm_request_id": "0dc33a0dbeb342b19317f92aaa4a4bfc", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2173, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 33, + "last_bootstrap_time_ns": 1792822683495784965, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822686631714856, + "capture_count": 491, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 82.8790779711078, + "status_ok": true, + "queue_size": 600, + "queue_depth": 189, + "max_queue_depth": 204, + "read_count": 949, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822686624461583, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822686638411451 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822694793595883, + "ended_time_ns": 1792822694806668257, + "capture_stop_time_ns": 1792822695594494723, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_141806_00034", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 121011 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 121535 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141762 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 122552 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 121535 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129664 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141806_00034", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141806_00034", + "--control-generation", + "34", + "--ready-token", + "63dd279eec6a4f9caef3a5b4b285d3f7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822696624380329, + "ended_time_ns": 1792822696637956624, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "capture_start_time_ns": 1792822690016428913, + "capture_stop_time_ns": 1792822695594494723, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/left_hand", + "timing": { + "server_start_request_time_ns": 1792822686589314260, + 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1792822686648570573, + "as5600_zero_start_time_ns": 1792822686649911166, + "as5600_zero_end_time_ns": 1792822687454334637, + "camera_init_start_time_ns": 1792822687456261000, + "camera_init_end_time_ns": 1792822687460638293, + "camera_start_start_time_ns": 1792822687461508689, + "camera_start_end_time_ns": 1792822687463282924, + "camera_first_frame_wait_start_time_ns": 1792822687464585240, + "camera_first_frame_wait_end_time_ns": 1792822687465854704, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822687466972300, + "armed_time_ns": 1792822687557125902, + "waiting_t0_time_ns": 1792822687561477991, + "recording_start_time_ns": 1792822690019864149, + "stop_request_time_ns": 1792822694793134783, + "finalized_time_ns": 1792822695610504968 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822686576640152, + "ended_time_ns": 1792822686576851149, + "duration_s": 0.000210997, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822686576643708, + "ok": true, + "ended_time_ns": 1792822686576651560, + "duration_s": 7.852e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822686576653060, + "ok": true, + "ended_time_ns": 1792822686576655819, + "duration_s": 2.759e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822686576656245, + "ok": true, + "ended_time_ns": 1792822686576659152, + "duration_s": 2.907e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822686576659485, + "ok": true, + "ended_time_ns": 1792822686576841298, + "duration_s": 0.000181813 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822686576842298, + "ok": true, + "ended_time_ns": 1792822686576845464, + "duration_s": 3.166e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822686576846001, + "ok": true, + "ended_time_ns": 1792822686576848446, + "duration_s": 2.445e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822686576848816, + "ok": true, + "ended_time_ns": 1792822686576850742, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 34, + "ready_token": "63dd279eec6a4f9caef3a5b4b285d3f7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "arm_request_id": "0dc33a0dbeb342b19317f92aaa4a4bfc", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2173, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 34, + "last_bootstrap_time_ns": 1792822695612847844, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822696101980076, + "capture_count": 346, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.50195312499997, + "gripper_gap_mm": 84.67370430324742, + "status_ok": true, + "queue_size": 600, + "queue_depth": 31, + "max_queue_depth": 204, + "read_count": 1518, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822696107787128, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822696123560267 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822695641094390, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7263, + "displayed_count": 7079, + "dropped_count": 182, + "decode_error_count": 0, + "last_receive_time_ns": 1792822695636922872, + "last_frame_time_ns": 1792822695565072691, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 34, + "last_bootstrap_time_ns": 1792822695612847844, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + 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the blocks/session_20261024_141806_00034/right_hand/Metadata/metadata.json b/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..29d243ecd40f53b06e0f1cf254ccc3b36b94650d --- /dev/null +++ b/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/metadata.json @@ -0,0 +1,343 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "raspberry_pi_capture", + "created_time_ns": 1792822695604064073, + "platform": { + "system": "Linux", + "release": "6.12.75+rpt-rpi-2712", + "machine": "aarch64" + }, + "paths": { + "run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand", + "rgb_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand/RGB_Images", + "clamp_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Clamp_Data", + "metadata_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata", + "video_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand/RGB_Images/video.mp4", + "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand/RGB_Images/timestamps.csv", + "clamp_data_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Clamp_Data/clamp_data_tum.txt", + "metadata_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/metadata.json", + "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Clamp_Data/clamp_timebase.csv" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.6", + "left_pi_host": "192.168.157.6", + "right_pi_host": "192.168.157.66", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/TeleUMI", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true, + "vive_bias": { + "window_s": 0.8, + "validation_guard_s": 0.2, + "min_span_s": 0.5, + "min_sample_ratio": 0.8, + "max_position_rms_m": 0.003, + "max_position_deviation_m": 0.008, + "max_orientation_rms_deg": 1.0, + "max_orientation_deviation_deg": 3.0 + } + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, 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+ "recording_start_time_ns": 1792822690016521710, + "stop_request_time_ns": 1792822694688667591, + "finalized_time_ns": 1792822695603341932 + }, + "last_error": null, + "capture_start_time_ns": 1792822690016428913, + "capture_stop_time_ns": 1792822695594494723 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "right_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822690016428913, + "capture_stop_time_ns": 1792822695594494723, + "effective_capture_stop_time_ns": 1792822695594494723, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_141806_00034", + "control_generation": 34, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822690016428913, + "capture_stop_time_ns": 1792822695594494723 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 276.92321777673567, + "reference_source": "max_open_init", + "zero_angle_deg": 276.92321777673567, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 9.166e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822690016508636, + "camera_frame_count": 223, + "camera_started_time_ns": 1792822687455005563, + "camera_stopped_time_ns": 1792822695601445263, + "camera_actual_fps": 27.37392139537963, + "camera_first_frame_time_ns": 1792822690022475027, + "camera_last_frame_time_ns": 1792822695570897017, + "camera_frame_timestamp_fps": 40.01137627961856, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822695595489353, + "capture_count": 326, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 334, + "clamp_first_sample_time_ns": 1792822690031522651, + "clamp_last_sample_time_ns": 1792822695581309442, + "clamp_actual_hz": 60.002305050713076, + "clamp_value_min": 54.17064974179277, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 203, + "read_count": 727, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1466 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..8121917d3c444b0d75885e371c7e36f32fc03b3e --- /dev/null +++ b/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822686554584806, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_141806_00034", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + 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8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141753_00033", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141753_00033", + "--control-generation", + "33", + "--ready-token", + "daa5ca83753141c2bcbf00d8f6eca852", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822686555074387, + "ended_time_ns": 1792822686569606447, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.diagnostics.json", + "capture_start_time_ns": 1792822676955864567, + "capture_stop_time_ns": 1792822683485137296, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141753_00033/right_hand", + "timing": { + "server_start_request_time_ns": 1792822673543583875, + "subprocess_popen_time_ns": 1792822673548358611, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822673561582789, + "validate_start_time_ns": 1792822674478112558, + "session_dir_create_start_time_ns": 1792822673564482393, + "session_dir_create_end_time_ns": 1792822673565442422, + "as5600_init_start_time_ns": 1792822673566461672, + "as5600_init_end_time_ns": 1792822673567402367, + "as5600_zero_start_time_ns": 1792822673569017334, + 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1792822686332154057, + "ended_time_ns": 1792822686332353388, + "duration_s": 0.000199331, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822686332157983, + "ok": true, + "ended_time_ns": 1792822686332165186, + "duration_s": 7.203e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822686332166445, + "ok": true, + "ended_time_ns": 1792822686332169427, + "duration_s": 2.982e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822686332169927, + "ok": true, + "ended_time_ns": 1792822686332172816, + "duration_s": 2.889e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822686332173168, + "ok": true, + "ended_time_ns": 1792822686332344203, + "duration_s": 0.000171035 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822686332345203, + "ok": true, + "ended_time_ns": 1792822686332348092, + "duration_s": 2.889e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822686332348592, + "ok": true, + "ended_time_ns": 1792822686332350888, + "duration_s": 2.296e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822686332351203, + "ok": true, + "ended_time_ns": 1792822686332352907, + "duration_s": 1.704e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822686332920439, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822686325037379, + "frame_age_s": 0.007907911, + "heartbeat_age_s": 0.005591228, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822686332948957, + "duration_s": 2.8518e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822686332950938, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 276.6796875, + "sample_observed_time_ns": 1792822686314648194, + "sample_age_s": 0.018309281, + "heartbeat_age_s": 0.005614098, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822686332959957, + "duration_s": 9.019e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822686332960938, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822686332963438, + "duration_s": 2.5e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822686332964494, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822686333057030, + "duration_s": 9.2536e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 33, + "ready_token": "daa5ca83753141c2bcbf00d8f6eca852", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141753_00033.ready.json", + "arm_request_id": "2b8f91b317994affa952f4df306bf17d", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3000, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141753_00033", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 33, + "last_bootstrap_time_ns": 1792822684299915440, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822686325037379, + "capture_count": 479, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 276.6796875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822686314648194, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822686327339396 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822686171175582, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6691, + "displayed_count": 5324, + "dropped_count": 1366, + "decode_error_count": 0, + "last_receive_time_ns": 1792822686095831753, + "last_frame_time_ns": 1792822686171078694, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141753_00033", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 33, + "last_bootstrap_time_ns": 1792822684299915440, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822686325037379, + "capture_count": 479, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 276.6796875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822686314648194, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822686327339396 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822686572646049, + "ended_time_ns": 1792822686583484957, + "duration_s": 0.000198647, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822686577656742, + "ok": true, + "ended_time_ns": 1792822686577664520, + "duration_s": 7.778e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822686577666372, + "ok": true, + "ended_time_ns": 1792822686577669557, + "duration_s": 3.185e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822686577670094, + "ok": true, + "ended_time_ns": 1792822686577672834, + "duration_s": 2.74e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822686577673223, + "ok": true, + "ended_time_ns": 1792822686577841629, + "duration_s": 0.000168406 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822686577842666, + "ok": true, + "ended_time_ns": 1792822686577846500, + "duration_s": 3.834e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822686577846981, + "ok": true, + "ended_time_ns": 1792822686577849166, + "duration_s": 2.185e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822686577849500, + "ok": true, + "ended_time_ns": 1792822686577851129, + "duration_s": 1.629e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141806_00034", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141806_00034", + "--control-generation", + "34", + "--ready-token", + "42cbd9f2eebf418c9b3c8f94d6d6279e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822686596587999, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand", + "timing": { + "server_start_request_time_ns": 1792822686591873986, + "subprocess_popen_time_ns": 1792822686596587999, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822686577652964, + "ended_time_ns": 1792822686577851611, + "duration_s": 0.000198647, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822686577656742, + "ok": true, + "ended_time_ns": 1792822686577664520, + "duration_s": 7.778e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822686577666372, + "ok": true, + "ended_time_ns": 1792822686577669557, + "duration_s": 3.185e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822686577670094, + "ok": true, + "ended_time_ns": 1792822686577672834, + "duration_s": 2.74e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822686577673223, + "ok": true, + "ended_time_ns": 1792822686577841629, + "duration_s": 0.000168406 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822686577842666, + "ok": true, + "ended_time_ns": 1792822686577846500, + "duration_s": 3.834e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822686577846981, + "ok": true, + "ended_time_ns": 1792822686577849166, + "duration_s": 2.185e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822686577849500, + "ok": true, + "ended_time_ns": 1792822686577851129, + "duration_s": 1.629e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 34, + "ready_token": "42cbd9f2eebf418c9b3c8f94d6d6279e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3001, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141753_00033", + "generation": 33, + "session_count": 33, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 33, + "last_bootstrap_time_ns": 1792822684299915440, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822686325037379, + "capture_count": 479, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": 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"runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 276.6796875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822686314648194, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822686327339396 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822686586929627, + "ended_time_ns": 1792822686612444614 + }, + "pi_start_request_time_ns": 1792822686612452156, + "capture_start_time_ns": 1792822690016428913, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822694684471948, + "capture_stop_time_ns": 1792822695594494723, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141806_00034", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141806_00034", + "--control-generation", + "34", + "--ready-token", + "42cbd9f2eebf418c9b3c8f94d6d6279e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822686596587999, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "capture_start_time_ns": 1792822690016428913, + "capture_stop_time_ns": 1792822695594494723, + "data_dir": 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"capture_entry_time_ns": 1792822686639076492, + "validate_start_time_ns": 1792822687552826841, + "session_dir_create_start_time_ns": 1792822686639892225, + "session_dir_create_end_time_ns": 1792822686640839532, + "as5600_init_start_time_ns": 1792822686641905855, + "as5600_init_end_time_ns": 1792822686642779477, + "as5600_zero_start_time_ns": 1792822686644691775, + "as5600_zero_end_time_ns": 1792822687451624334, + "camera_init_start_time_ns": 1792822687453109265, + "camera_init_end_time_ns": 1792822687455009971, + "camera_start_start_time_ns": 1792822687455899537, + "camera_start_end_time_ns": 1792822687457659780, + "camera_first_frame_wait_start_time_ns": 1792822687460012333, + "camera_first_frame_wait_end_time_ns": 1792822687461417469, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822687462723032, + "armed_time_ns": 1792822687550636045, + "waiting_t0_time_ns": 1792822687554886952, + "recording_start_time_ns": 1792822690016521710, + "stop_request_time_ns": 1792822694686338593, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822686577652964, + "ended_time_ns": 1792822686577851611, + "duration_s": 0.000198647, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822686577656742, + "ok": true, + "ended_time_ns": 1792822686577664520, + "duration_s": 7.778e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822686577666372, + "ok": true, + "ended_time_ns": 1792822686577669557, + "duration_s": 3.185e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822686577670094, + "ok": true, + "ended_time_ns": 1792822686577672834, + "duration_s": 2.74e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822686577673223, + "ok": true, + "ended_time_ns": 1792822686577841629, + "duration_s": 0.000168406 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822686577842666, + "ok": true, + "ended_time_ns": 1792822686577846500, + "duration_s": 3.834e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822686577846981, + "ok": true, + "ended_time_ns": 1792822686577849166, + "duration_s": 2.185e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822686577849500, + "ok": true, + "ended_time_ns": 1792822686577851129, + "duration_s": 1.629e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 34, + "ready_token": "42cbd9f2eebf418c9b3c8f94d6d6279e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "arm_request_id": "0dc33a0dbeb342b19317f92aaa4a4bfc", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3001, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 33, + "last_bootstrap_time_ns": 1792822684299915440, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822686624870026, + "capture_count": 491, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 276.6796875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 189, + "max_queue_depth": 189, + "read_count": 189, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822686631322098, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822686635674059 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822694684789933, + "ended_time_ns": 1792822694695491929, + "capture_stop_time_ns": 1792822695594494723, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141806_00034", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141806_00034", + "--control-generation", + "34", + "--ready-token", + "42cbd9f2eebf418c9b3c8f94d6d6279e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822696727413558, + "ended_time_ns": 1792822696742775651, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "capture_start_time_ns": 1792822690016428913, + "capture_stop_time_ns": 1792822695594494723, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand", + "timing": { + "server_start_request_time_ns": 1792822686591873986, + "subprocess_popen_time_ns": 1792822686596587999, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822686639076492, + "validate_start_time_ns": 1792822687552826841, + "session_dir_create_start_time_ns": 1792822686639892225, + "session_dir_create_end_time_ns": 1792822686640839532, + "as5600_init_start_time_ns": 1792822686641905855, + "as5600_init_end_time_ns": 1792822686642779477, + "as5600_zero_start_time_ns": 1792822686644691775, + "as5600_zero_end_time_ns": 1792822687451624334, + "camera_init_start_time_ns": 1792822687453109265, + "camera_init_end_time_ns": 1792822687455009971, + "camera_start_start_time_ns": 1792822687455899537, + "camera_start_end_time_ns": 1792822687457659780, + "camera_first_frame_wait_start_time_ns": 1792822687460012333, + "camera_first_frame_wait_end_time_ns": 1792822687461417469, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822687462723032, + "armed_time_ns": 1792822687550636045, + "waiting_t0_time_ns": 1792822687554886952, + "recording_start_time_ns": 1792822690016521710, + "stop_request_time_ns": 1792822694688667591, + "finalized_time_ns": 1792822695603341932 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822686577652964, + "ended_time_ns": 1792822686577851611, + "duration_s": 0.000198647, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822686577656742, + "ok": true, + "ended_time_ns": 1792822686577664520, + "duration_s": 7.778e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822686577666372, + "ok": true, + "ended_time_ns": 1792822686577669557, + "duration_s": 3.185e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822686577670094, + "ok": true, + "ended_time_ns": 1792822686577672834, + "duration_s": 2.74e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822686577673223, + "ok": true, + "ended_time_ns": 1792822686577841629, + "duration_s": 0.000168406 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822686577842666, + "ok": true, + "ended_time_ns": 1792822686577846500, + "duration_s": 3.834e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822686577846981, + "ok": true, + "ended_time_ns": 1792822686577849166, + "duration_s": 2.185e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822686577849500, + "ok": true, + "ended_time_ns": 1792822686577851129, + "duration_s": 1.629e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 34, + "ready_token": "42cbd9f2eebf418c9b3c8f94d6d6279e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "arm_request_id": "0dc33a0dbeb342b19317f92aaa4a4bfc", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3001, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 34, + "last_bootstrap_time_ns": 1792822696419358113, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822696469398335, + "capture_count": 361, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.6201171906916, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 52, + "max_queue_depth": 52, + "read_count": 52, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822696467429778, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822696482403293 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822695745677998, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6774, + "displayed_count": 5378, + "dropped_count": 1394, + "decode_error_count": 0, + "last_receive_time_ns": 1792822695707150471, + "last_frame_time_ns": 1792822695565930820, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 34, + "last_bootstrap_time_ns": 1792822696419358113, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822696469398335, + "capture_count": 361, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.6201171906916, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 52, + "max_queue_depth": 52, + "read_count": 52, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822696467429778, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822696482403293 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200, + "status_poll_attempts": 3 + }, + "final_ok": true + }, + "updated_time_ns": 1792822696749192369 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ab00f8dd6c267bcda2816c45b99628672f9812d7 --- /dev/null +++ b/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822686619081605, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "right_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-F47559F6", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792822690016428913, + "capture_stop_time_ns": 1792822695594494723, + "effective_capture_stop_time_ns": 1792822695594494723, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141806_00034/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 2, + "tracker_serial_used": "LHR-F47559F6", + "vive_bias": { + "x0": 0.10028143972158432, + "y0": -0.7435418367385864, + "z0": -1.0196605920791626, + "qx0": 0.1131005809449102, + 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"started_time_ns": 1792822686576846001, + "ok": true, + "ended_time_ns": 1792822686576848446, + "duration_s": 2.445e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822686576848816, + "ok": true, + "ended_time_ns": 1792822686576850742, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 34, + "ready_token": "63dd279eec6a4f9caef3a5b4b285d3f7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "arm_request_id": "0dc33a0dbeb342b19317f92aaa4a4bfc", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2173, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 34, + "last_bootstrap_time_ns": 1792822695612847844, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822697626431357, + "capture_count": 407, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.50195312499997, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 123, + "max_queue_depth": 204, + "read_count": 1610, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822697641109308, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822697644507429 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822697678947428, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7280, + "displayed_count": 7097, + "dropped_count": 182, + "decode_error_count": 0, + "last_receive_time_ns": 1792822697603002821, + "last_frame_time_ns": 1792822697586525283, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 34, + "last_bootstrap_time_ns": 1792822695612847844, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822697626431357, + "capture_count": 407, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.50195312499997, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 123, + "max_queue_depth": 204, + "read_count": 1610, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822697641109308, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822697644507429 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822698028725202, + "ended_time_ns": 1792822698052140548, + "duration_s": 0.011811878, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822698031416870, + "ended_time_ns": 1792822698031635312, + "duration_s": 0.000218442, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822698031420296, + "ok": true, + "ended_time_ns": 1792822698031438611, + "duration_s": 1.8315e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822698031439574, + "ok": true, + "ended_time_ns": 1792822698031442481, + "duration_s": 2.907e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822698031442907, + "ok": true, + "ended_time_ns": 1792822698031446018, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822698031446370, + "ok": true, + "ended_time_ns": 1792822698031624830, + "duration_s": 0.00017846 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822698031625830, + "ok": true, + "ended_time_ns": 1792822698031629293, + "duration_s": 3.463e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822698031629775, + "ok": true, + "ended_time_ns": 1792822698031632219, + "duration_s": 2.444e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822698031632682, + "ok": true, + "ended_time_ns": 1792822698031634923, + "duration_s": 2.241e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822698042954326, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822697626431357, + "frame_age_s": 0.416560617, + "heartbeat_age_s": 0.398463786, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822698042996918, + "duration_s": 4.2592e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822698042998825, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 104.50195312499997, + "sample_observed_time_ns": 1792822697641109308, + "sample_age_s": 0.401897647, + "heartbeat_age_s": 0.398494637, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822698043010288, + "duration_s": 1.1463e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822698043015047, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822698043144879, + "duration_s": 0.000129832 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822698052153649, + "ended_time_ns": 1792822698140477562, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141806_00034", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141806_00034", + "--control-generation", + "34", + "--ready-token", + "42cbd9f2eebf418c9b3c8f94d6d6279e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822698140493947, + "ended_time_ns": 1792822698152728345, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "capture_start_time_ns": 1792822690016428913, + "capture_stop_time_ns": 1792822695594494723, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand", + "timing": { + "server_start_request_time_ns": 1792822686591873986, + "subprocess_popen_time_ns": 1792822686596587999, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 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"camera_first_frame_wait_end_time_ns": 1792822687461417469, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822687462723032, + "armed_time_ns": 1792822687550636045, + "waiting_t0_time_ns": 1792822687554886952, + "recording_start_time_ns": 1792822690016521710, + "stop_request_time_ns": 1792822694688667591, + "finalized_time_ns": 1792822695603341932 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822686577652964, + "ended_time_ns": 1792822686577851611, + "duration_s": 0.000198647, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822686577656742, + "ok": true, + "ended_time_ns": 1792822686577664520, + "duration_s": 7.778e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822686577666372, + "ok": true, + "ended_time_ns": 1792822686577669557, + "duration_s": 3.185e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822686577670094, + "ok": true, + "ended_time_ns": 1792822686577672834, + "duration_s": 2.74e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822686577673223, + "ok": true, + "ended_time_ns": 1792822686577841629, + "duration_s": 0.000168406 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822686577842666, + "ok": true, + "ended_time_ns": 1792822686577846500, + "duration_s": 3.834e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822686577846981, + "ok": true, + "ended_time_ns": 1792822686577849166, + "duration_s": 2.185e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822686577849500, + "ok": true, + "ended_time_ns": 1792822686577851129, + "duration_s": 1.629e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 34, + "ready_token": "42cbd9f2eebf418c9b3c8f94d6d6279e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "arm_request_id": "0dc33a0dbeb342b19317f92aaa4a4bfc", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3001, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 34, + "last_bootstrap_time_ns": 1792822696419358113, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822697992222930, + "capture_count": 422, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.6201171906916, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 143, + "max_queue_depth": 143, + "read_count": 143, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822697983782931, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822698000310154 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822697974257978, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6794, + "displayed_count": 5394, + "dropped_count": 1398, + "decode_error_count": 0, + "last_receive_time_ns": 1792822697965214374, + "last_frame_time_ns": 1792822697893401976, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 34, + "last_bootstrap_time_ns": 1792822696419358113, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822697992222930, + "capture_count": 422, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.6201171906916, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 143, + "max_queue_depth": 143, + "read_count": 143, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822697983782931, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822698000310154 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822698177408258, + "ended_time_ns": 1792822698187355147, + "duration_s": 0.001208378, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822698180527198, + "ended_time_ns": 1792822698180753937, + "duration_s": 0.000226739, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822698180531050, + "ok": true, + "ended_time_ns": 1792822698180539624, + "duration_s": 8.574e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822698180540587, + "ok": true, + "ended_time_ns": 1792822698180543791, + "duration_s": 3.204e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822698180544383, + "ok": true, + "ended_time_ns": 1792822698180547828, + "duration_s": 3.445e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822698180548217, + "ok": true, + "ended_time_ns": 1792822698180741789, + "duration_s": 0.000193572 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822698180743085, + "ok": true, + "ended_time_ns": 1792822698180747326, + "duration_s": 4.241e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822698180747900, + "ok": true, + "ended_time_ns": 1792822698180750696, + "duration_s": 2.796e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822698180751363, + "ok": true, + "ended_time_ns": 1792822698180753492, + "duration_s": 2.129e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822698181468375, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822697992222930, + "frame_age_s": 0.189277982, + "heartbeat_age_s": 0.181171351, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822698181505634, + "duration_s": 3.7259e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822698181507875, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 280.6201171906916, + "sample_observed_time_ns": 1792822697983782931, + "sample_age_s": 0.197732832, + "heartbeat_age_s": 0.181200813, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822698181519152, + "duration_s": 1.1277e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822698181523819, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822698181637559, + "duration_s": 0.00011374 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822698187374909, + "ended_time_ns": 1792822698292123659, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823202503292290, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823191629141723, + "ended_time_ns": 1792823191649098263, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823191649166894, + "ended_time_ns": 1792823191702829531, + "transferred_bytes": 13699, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,699 bytes\nTotal transferred file size: 13,699 bytes\nLiteral data: 13,699 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,835\n\nsent 46 bytes received 13,835 bytes 27,762.00 bytes/sec\ntotal size is 13,699 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823191703059867, + "ended_time_ns": 1792823202502615189, + "transferred_bytes": 9039080, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 9,039,080 bytes\nTotal transferred file size: 9,039,080 bytes\nLiteral data: 9,039,080 bytes\nMatched data: 0 bytes\nFile list size: 229\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 9,041,699\n\nsent 168 bytes received 9,041,699 bytes 786,249.30 bytes/sec\ntotal size is 9,039,080 speedup is 1.00" + } + ], + "transferred_bytes": 9052779, + "copied_local_bytes": 9522840, + "started_time_ns": 1792823191628820821, + "ended_time_ns": 1792823202502841624 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823191629649446, + "ended_time_ns": 1792823191648180481, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823191648276881, + "ended_time_ns": 1792823191700460735, + "transferred_bytes": 13690, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,690 bytes\nTotal transferred file size: 13,690 bytes\nLiteral data: 13,690 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,826\n\nsent 46 bytes received 13,826 bytes 27,744.00 bytes/sec\ntotal size is 13,690 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823191700726657, + "ended_time_ns": 1792823192310202492, + "transferred_bytes": 8471734, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,471,734 bytes\nTotal transferred file size: 8,471,734 bytes\nLiteral data: 8,471,734 bytes\nMatched data: 0 bytes\nFile list size: 219\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,474,211\n\nsent 168 bytes received 8,474,211 bytes 5,649,586.00 bytes/sec\ntotal size is 8,471,734 speedup is 1.00" + } + ], + "transferred_bytes": 8485424, + "copied_local_bytes": 8938548, + "started_time_ns": 1792823191629029878, + "ended_time_ns": 1792823192310564055 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_141818_00035", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823377685562316, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823377276636425, + "ended_time_ns": 1792823377685307950, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823377276636425, + "ended_time_ns": 1792823377466316562, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141818_00035", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141818_00035_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141818_00035 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141818_00035_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141818_00035_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141818_00035_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141818_00035\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822701876119067\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822701876119067，vive_T0=1792822701876119067，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822708377106599，vive_Tstop=1792822708377106599，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008003s，first=1792822701884122018，T0=1792822701876119067，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003055s，last=1792822708374051137，Tstop=1792822708377106599，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1299\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00218433818614 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00218433818614 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1299，metadata 1299\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00218921348008 Hz，最低 150.0 Hz，时长 6.489928960800171 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00218921348008 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006269216537475586s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994097221..1.0000000006147194，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0014287583831722626m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.4354373056177928deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=260 duration=6.5s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=260，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 260，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=259，rows=260，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=260，monotonic违规=0，估算频率=40.00204262476589Hz，最大间隔=0.034704829s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 260，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.0020437677398 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.0020437677398 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03470344s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 390，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 37.428..99.4242\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 390，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99993684119761 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99993684119761 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020380541s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=390，bad_rows=0，monotonic违规=0，估算频率=59.99993169570758Hz，最大间隔=0.020381263s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 260，metadata 260\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 390，metadata 390\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 260，timestamps 260，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=260，timestamps=260，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.025s，video=6.5s，timestamps=6.474669181999999s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.009s，camera=6.474669181999999s，clamp=6.483340157999998s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822701876119067，pi_T0=1792822701876119067，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822708377106599，pi_Tstop=1792822708377106599，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.020588s，first=1792822701896707316，T0=1792822701876119067，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.014990s，first=1792822701891109317，T0=1792822701876119067，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.005730s，last=1792822708371376498，Tstop=1792822708377106599，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.002657s，last=1792822708374449475，Tstop=1792822708377106599，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.015260s，vive=6.489929119s，camera=6.474669181999999s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.006589s，vive=6.489929119s，clamp=6.483340157999998s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.012585s，vive_first=1792822701884122018，camera_first=1792822701896707316，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.006987s，vive_first=1792822701884122018，clamp_first=1792822701891109317，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.002675s，vive_last=1792822708374051137，camera_last=1792822708371376498，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.000398s，vive_last=1792822708374051137，clamp_last=1792822708374449475，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141818_00035_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823377466622704, + "ended_time_ns": 1792823377685307950, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141818_00035", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141818_00035_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141818_00035 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141818_00035_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141818_00035_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141818_00035_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141818_00035\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822701876119067\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822701876119067，vive_T0=1792822701876119067，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822708377106599，vive_Tstop=1792822708377106599，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008003s，first=1792822701884122018，T0=1792822701876119067，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003055s，last=1792822708374051137，Tstop=1792822708377106599，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1299\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00218433818614 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00218433818614 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1299，metadata 1299\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00218921348008 Hz，最低 150.0 Hz，时长 6.489928960800171 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00218921348008 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006269216537475586s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994003462..1.0000000005843164，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0035679135072002512m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.8818295077043333deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=260 duration=6.5s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=260，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 260，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=259，rows=260，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=260，monotonic违规=0，估算频率=40.01451552351481Hz，最大间隔=0.03093678s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 260，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.014515066040104 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.014515066040104 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03093654s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 390，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 390，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.999908809393084 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999908809393084 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018832314s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=390，bad_rows=0，monotonic违规=0，估算频率=59.99990333074701Hz，最大间隔=0.01883324s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 260，metadata 260\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 390，metadata 390\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 260，timestamps 260，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=260，timestamps=260，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.027s，video=6.5s，timestamps=6.472651226000002s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.011s，camera=6.472651226000002s，clamp=6.483343187000001s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822701876119067，pi_T0=1792822701876119067，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822708377106599，pi_Tstop=1792822708377106599，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013456s，first=1792822701889575410，T0=1792822701876119067，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.007662s，first=1792822701883780591，T0=1792822701876119067，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.014880s，last=1792822708362226636，Tstop=1792822708377106599，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.009983s，last=1792822708367123778，Tstop=1792822708377106599，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.017278s，vive=6.489929119s，camera=6.472651226000002s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.006586s，vive=6.489929119s，clamp=6.483343187000001s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.005453s，vive_first=1792822701884122018，camera_first=1792822701889575410，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.000341s，vive_first=1792822701884122018，clamp_first=1792822701883780591，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.011825s，vive_last=1792822708374051137，camera_last=1792822708362226636，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.006927s，vive_last=1792822708374051137，clamp_last=1792822708367123778，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141818_00035_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141818_00035_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141818_00035\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822701876119067\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822701876119067，vive_T0=1792822701876119067，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822708377106599，vive_Tstop=1792822708377106599，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008003s，first=1792822701884122018，T0=1792822701876119067，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003055s，last=1792822708374051137，Tstop=1792822708377106599，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1299\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00218433818614 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00218433818614 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1299，metadata 1299\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00218921348008 Hz，最低 150.0 Hz，时长 6.489928960800171 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00218921348008 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006269216537475586s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994097221..1.0000000006147194，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0014287583831722626m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.4354373056177928deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=260 duration=6.5s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=260，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 260，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=259，rows=260，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=260，monotonic违规=0，估算频率=40.00204262476589Hz，最大间隔=0.034704829s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 260，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.0020437677398 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.0020437677398 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03470344s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 390，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 37.428..99.4242\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 390，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99993684119761 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99993684119761 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020380541s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=390，bad_rows=0，monotonic违规=0，估算频率=59.99993169570758Hz，最大间隔=0.020381263s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 260，metadata 260\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 390，metadata 390\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 260，timestamps 260，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=260，timestamps=260，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.025s，video=6.5s，timestamps=6.474669181999999s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.009s，camera=6.474669181999999s，clamp=6.483340157999998s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822701876119067，pi_T0=1792822701876119067，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822708377106599，pi_Tstop=1792822708377106599，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.020588s，first=1792822701896707316，T0=1792822701876119067，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.014990s，first=1792822701891109317，T0=1792822701876119067，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.005730s，last=1792822708371376498，Tstop=1792822708377106599，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.002657s，last=1792822708374449475，Tstop=1792822708377106599，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.015260s，vive=6.489929119s，camera=6.474669181999999s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.006589s，vive=6.489929119s，clamp=6.483340157999998s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.012585s，vive_first=1792822701884122018，camera_first=1792822701896707316，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.006987s，vive_first=1792822701884122018，clamp_first=1792822701891109317，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.002675s，vive_last=1792822708374051137，camera_last=1792822708371376498，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.000398s，vive_last=1792822708374051137，clamp_last=1792822708374449475，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141818_00035_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141818_00035\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822701876119067\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822701876119067，vive_T0=1792822701876119067，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822708377106599，vive_Tstop=1792822708377106599，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008003s，first=1792822701884122018，T0=1792822701876119067，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003055s，last=1792822708374051137，Tstop=1792822708377106599，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1299\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00218433818614 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00218433818614 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1299，metadata 1299\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00218921348008 Hz，最低 150.0 Hz，时长 6.489928960800171 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00218921348008 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006269216537475586s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994003462..1.0000000005843164，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0035679135072002512m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.8818295077043333deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=260 duration=6.5s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=260，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 260，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=259，rows=260，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=260，monotonic违规=0，估算频率=40.01451552351481Hz，最大间隔=0.03093678s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 260，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.014515066040104 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.014515066040104 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03093654s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 390，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 390，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.999908809393084 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999908809393084 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018832314s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=390，bad_rows=0，monotonic违规=0，估算频率=59.99990333074701Hz，最大间隔=0.01883324s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 260，metadata 260\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 390，metadata 390\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 260，timestamps 260，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=260，timestamps=260，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.027s，video=6.5s，timestamps=6.472651226000002s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.011s，camera=6.472651226000002s，clamp=6.483343187000001s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822701876119067，pi_T0=1792822701876119067，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822708377106599，pi_Tstop=1792822708377106599，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013456s，first=1792822701889575410，T0=1792822701876119067，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.007662s，first=1792822701883780591，T0=1792822701876119067，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.014880s，last=1792822708362226636，Tstop=1792822708377106599，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.009983s，last=1792822708367123778，Tstop=1792822708377106599，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.017278s，vive=6.489929119s，camera=6.472651226000002s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.006586s，vive=6.489929119s，clamp=6.483343187000001s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.005453s，vive_first=1792822701884122018，camera_first=1792822701889575410，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.000341s，vive_first=1792822701884122018，clamp_first=1792822701883780591，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.011825s，vive_last=1792822708374051137，camera_last=1792822708362226636，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.006927s，vive_last=1792822708374051137，clamp_last=1792822708367123778，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141818_00035_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141818_00035/control/stop_left_hand.flag b/stack the blocks/session_20261024_141818_00035/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..d664ccc48df6b3966d17f628a36668ab204e55be --- /dev/null +++ b/stack the blocks/session_20261024_141818_00035/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822708377106599 \ No newline at end of file diff --git a/stack the blocks/session_20261024_141818_00035/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the blocks/session_20261024_141818_00035/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 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"camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822708371376498, + "capture_count": 364, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 390, + "clamp_first_sample_time_ns": 1792822701891109317, + "clamp_last_sample_time_ns": 1792822708374449475, + "clamp_actual_hz": 59.99993684119759, + "clamp_value_min": 37.42800168155314, + "clamp_value_max": 99.42418406455417, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 205, + "read_count": 2254, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1618 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141818_00035/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141818_00035/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..eea29695196c8b1c38f986edcd1e0432e4bd1f4b --- /dev/null +++ b/stack the blocks/session_20261024_141818_00035/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822698389129369, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_141818_00035", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141806_00034", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141806_00034", + "--control-generation", + "34", + "--ready-token", + "63dd279eec6a4f9caef3a5b4b285d3f7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822698389678452, + "ended_time_ns": 1792822698406550627, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "capture_start_time_ns": 1792822690016428913, + "capture_stop_time_ns": 1792822695594494723, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/left_hand", + "timing": { + "server_start_request_time_ns": 1792822686589314260, + "subprocess_popen_time_ns": 1792822686594112232, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822686643315440, + "validate_start_time_ns": 1792822687560009345, + "session_dir_create_start_time_ns": 1792822686644531516, + "session_dir_create_end_time_ns": 1792822686645742833, + "as5600_init_start_time_ns": 1792822686647615068, + "as5600_init_end_time_ns": 1792822686648570573, + "as5600_zero_start_time_ns": 1792822686649911166, + "as5600_zero_end_time_ns": 1792822687454334637, + "camera_init_start_time_ns": 1792822687456261000, + "camera_init_end_time_ns": 1792822687460638293, + "camera_start_start_time_ns": 1792822687461508689, + "camera_start_end_time_ns": 1792822687463282924, + "camera_first_frame_wait_start_time_ns": 1792822687464585240, + "camera_first_frame_wait_end_time_ns": 1792822687465854704, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822687466972300, + "armed_time_ns": 1792822687557125902, + "waiting_t0_time_ns": 1792822687561477991, + "recording_start_time_ns": 1792822690019864149, + "stop_request_time_ns": 1792822694793134783, + "finalized_time_ns": 1792822695610504968 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822698031334668, + "ended_time_ns": 1792822698043146546, + "duration_s": 0.011811878, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822698031416870, + "ended_time_ns": 1792822698031635312, + "duration_s": 0.000218442, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822698031420296, + "ok": true, + "ended_time_ns": 1792822698031438611, + "duration_s": 1.8315e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822698031439574, + "ok": true, + "ended_time_ns": 1792822698031442481, + "duration_s": 2.907e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822698031442907, + "ok": true, + "ended_time_ns": 1792822698031446018, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822698031446370, + "ok": true, + "ended_time_ns": 1792822698031624830, + "duration_s": 0.00017846 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822698031625830, + "ok": true, + "ended_time_ns": 1792822698031629293, + "duration_s": 3.463e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822698031629775, + "ok": true, + "ended_time_ns": 1792822698031632219, + "duration_s": 2.444e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822698031632682, + "ok": true, + "ended_time_ns": 1792822698031634923, + "duration_s": 2.241e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822698042954326, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822697626431357, + "frame_age_s": 0.416560617, + "heartbeat_age_s": 0.398463786, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822698042996918, + "duration_s": 4.2592e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822698042998825, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 104.50195312499997, + "sample_observed_time_ns": 1792822697641109308, + "sample_age_s": 0.401897647, + "heartbeat_age_s": 0.398494637, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822698043010288, + "duration_s": 1.1463e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822698043011399, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822698043013844, + "duration_s": 2.445e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822698043015047, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822698043144879, + "duration_s": 0.000129832 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 34, + "ready_token": "63dd279eec6a4f9caef3a5b4b285d3f7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "arm_request_id": "0dc33a0dbeb342b19317f92aaa4a4bfc", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2173, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 34, + "last_bootstrap_time_ns": 1792822695612847844, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822698149266192, + "capture_count": 428, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.50195312499997, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 204, + "read_count": 1640, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822698141109746, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822698149642594 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822697678947428, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7280, + "displayed_count": 7097, + "dropped_count": 182, + "decode_error_count": 0, + "last_receive_time_ns": 1792822697603002821, + "last_frame_time_ns": 1792822697586525283, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 34, + "last_bootstrap_time_ns": 1792822695612847844, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822698149266192, + "capture_count": 428, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.50195312499997, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 204, + "read_count": 1640, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822698141109746, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822698149642594 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822698409661571, + "ended_time_ns": 1792822698422482796, + "duration_s": 0.000211127, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822698412589352, + "ok": true, + "ended_time_ns": 1792822698412597370, + "duration_s": 8.018e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822698412599240, + "ok": true, + "ended_time_ns": 1792822698412602000, + "duration_s": 2.76e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822698412602481, + "ok": true, + "ended_time_ns": 1792822698412605166, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822698412605537, + "ok": true, + "ended_time_ns": 1792822698412786349, + "duration_s": 0.000180812 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822698412787627, + "ok": true, + "ended_time_ns": 1792822698412790849, + "duration_s": 3.222e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822698412791404, + "ok": true, + "ended_time_ns": 1792822698412794034, + "duration_s": 2.63e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822698412794404, + "ok": true, + "ended_time_ns": 1792822698412796441, + "duration_s": 2.037e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141818_00035", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141818_00035", + "--control-generation", + "35", + "--ready-token", + "d9923937bfc84bcbaad01526f910576c", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822698432998558, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/left_hand", + "timing": { + "server_start_request_time_ns": 1792822698427591853, + "subprocess_popen_time_ns": 1792822698432998558, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822698412585685, + "ended_time_ns": 1792822698412796812, + "duration_s": 0.000211127, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822698412589352, + "ok": true, + "ended_time_ns": 1792822698412597370, + "duration_s": 8.018e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822698412599240, + "ok": true, + "ended_time_ns": 1792822698412602000, + "duration_s": 2.76e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822698412602481, + "ok": true, + "ended_time_ns": 1792822698412605166, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822698412605537, + "ok": true, + "ended_time_ns": 1792822698412786349, + "duration_s": 0.000180812 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822698412787627, + "ok": true, + "ended_time_ns": 1792822698412790849, + "duration_s": 3.222e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822698412791404, + "ok": true, + "ended_time_ns": 1792822698412794034, + "duration_s": 2.63e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822698412794404, + "ok": true, + "ended_time_ns": 1792822698412796441, + "duration_s": 2.037e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 35, + "ready_token": "d9923937bfc84bcbaad01526f910576c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2174, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 34, + "last_bootstrap_time_ns": 1792822695612847844, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822698149266192, + "capture_count": 428, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.50195312499997, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 204, + "read_count": 1640, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822698141109746, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822698149642594 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822697678947428, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7280, + "displayed_count": 7097, + "dropped_count": 182, + "decode_error_count": 0, + "last_receive_time_ns": 1792822697603002821, + "last_frame_time_ns": 1792822697586525283, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 34, + "last_bootstrap_time_ns": 1792822695612847844, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822698149266192, + "capture_count": 428, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.50195312499997, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 204, + "read_count": 1640, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822698141109746, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822698149642594 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822698426145217, + "ended_time_ns": 1792822698447954590 + }, + "pi_start_request_time_ns": 1792822698447961218, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822698451345194, + "capture_start_time_ns": 1792822701876119067, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822707441232808, + "capture_stop_time_ns": 1792822708377106599, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141818_00035", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141818_00035", + "--control-generation", + "35", + "--ready-token", + "d9923937bfc84bcbaad01526f910576c", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822698432998558, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "capture_start_time_ns": 1792822701876119067, + "capture_stop_time_ns": 1792822708377106599, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/left_hand", + "timing": { + "server_start_request_time_ns": 1792822698427591853, + "subprocess_popen_time_ns": 1792822698432998558, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822698461702487, + "validate_start_time_ns": 1792822699395008242, + "session_dir_create_start_time_ns": 1792822698462455921, + "session_dir_create_end_time_ns": 1792822698463370502, + "as5600_init_start_time_ns": 1792822698464458450, + "as5600_init_end_time_ns": 1792822698465611564, + "as5600_zero_start_time_ns": 1792822698467218357, + "as5600_zero_end_time_ns": 1792822699270744729, + "camera_init_start_time_ns": 1792822699273057957, + "camera_init_end_time_ns": 1792822699277364529, + "camera_start_start_time_ns": 1792822699278400552, + "camera_start_end_time_ns": 1792822699279997919, + "camera_first_frame_wait_start_time_ns": 1792822699281633971, + "camera_first_frame_wait_end_time_ns": 1792822699283240579, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822699285816656, + "armed_time_ns": 1792822699393805628, + "waiting_t0_time_ns": 1792822699396792699, + "recording_start_time_ns": 1792822701876360738, + "stop_request_time_ns": 1792822707441249386, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822698412585685, + "ended_time_ns": 1792822698412796812, + "duration_s": 0.000211127, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822698412589352, + "ok": true, + "ended_time_ns": 1792822698412597370, + "duration_s": 8.018e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822698412599240, + "ok": true, + "ended_time_ns": 1792822698412602000, + "duration_s": 2.76e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822698412602481, + "ok": true, + "ended_time_ns": 1792822698412605166, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822698412605537, + "ok": true, + "ended_time_ns": 1792822698412786349, + "duration_s": 0.000180812 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822698412787627, + "ok": true, + "ended_time_ns": 1792822698412790849, + "duration_s": 3.222e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822698412791404, + "ok": true, + "ended_time_ns": 1792822698412794034, + "duration_s": 2.63e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822698412794404, + "ok": true, + "ended_time_ns": 1792822698412796441, + "duration_s": 2.037e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 35, + "ready_token": "d9923937bfc84bcbaad01526f910576c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "arm_request_id": "f08c17a3bd4044a982dd9f852ef48835", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2174, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 34, + "last_bootstrap_time_ns": 1792822695612847844, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822698449234581, + "capture_count": 440, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.50195312499997, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 171, + "max_queue_depth": 204, + "read_count": 1658, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822698441123708, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822698455362628 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822707442483207, + "ended_time_ns": 1792822707454989616, + "capture_stop_time_ns": 1792822708377106599, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_141818_00035", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 141687 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 141591 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141692 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 142124 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 141591 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129691 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141818_00035", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141818_00035", + "--control-generation", + "35", + "--ready-token", + "d9923937bfc84bcbaad01526f910576c", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822709405306154, + "ended_time_ns": 1792822709419954178, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "capture_start_time_ns": 1792822701876119067, + "capture_stop_time_ns": 1792822708377106599, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/left_hand", + "timing": { + "server_start_request_time_ns": 1792822698427591853, + "subprocess_popen_time_ns": 1792822698432998558, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822698461702487, + "validate_start_time_ns": 1792822699395008242, + "session_dir_create_start_time_ns": 1792822698462455921, + "session_dir_create_end_time_ns": 1792822698463370502, + "as5600_init_start_time_ns": 1792822698464458450, + "as5600_init_end_time_ns": 1792822698465611564, + "as5600_zero_start_time_ns": 1792822698467218357, + "as5600_zero_end_time_ns": 1792822699270744729, + "camera_init_start_time_ns": 1792822699273057957, + "camera_init_end_time_ns": 1792822699277364529, + "camera_start_start_time_ns": 1792822699278400552, + "camera_start_end_time_ns": 1792822699279997919, + "camera_first_frame_wait_start_time_ns": 1792822699281633971, + "camera_first_frame_wait_end_time_ns": 1792822699283240579, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822699285816656, + "armed_time_ns": 1792822699393805628, + "waiting_t0_time_ns": 1792822699396792699, + "recording_start_time_ns": 1792822701876360738, + "stop_request_time_ns": 1792822707443279562, + "finalized_time_ns": 1792822708385515549 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822698412585685, + "ended_time_ns": 1792822698412796812, + "duration_s": 0.000211127, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822698412589352, + "ok": true, + "ended_time_ns": 1792822698412597370, + "duration_s": 8.018e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822698412599240, + "ok": true, + "ended_time_ns": 1792822698412602000, + "duration_s": 2.76e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822698412602481, + "ok": true, + "ended_time_ns": 1792822698412605166, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822698412605537, + "ok": true, + "ended_time_ns": 1792822698412786349, + "duration_s": 0.000180812 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822698412787627, + "ok": true, + "ended_time_ns": 1792822698412790849, + "duration_s": 3.222e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822698412791404, + "ok": true, + "ended_time_ns": 1792822698412794034, + "duration_s": 2.63e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822698412794404, + "ok": true, + "ended_time_ns": 1792822698412796441, + "duration_s": 2.037e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 35, + "ready_token": "d9923937bfc84bcbaad01526f910576c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "arm_request_id": "f08c17a3bd4044a982dd9f852ef48835", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2174, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 35, + "last_bootstrap_time_ns": 1792822709201470975, + "bootstrap_errors": {}, + "camera": { + "configured": true, + 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"camera_first_frame_wait_start_time_ns": 1792822699233119682, + "camera_first_frame_wait_end_time_ns": 1792822699236225858, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822699237750493, + "armed_time_ns": 1792822699407245521, + "waiting_t0_time_ns": 1792822699410976840, + "recording_start_time_ns": 1792822701879162595, + "stop_request_time_ns": 1792822707579468677, + "finalized_time_ns": 1792822708382422216 + }, + "last_error": null, + "capture_start_time_ns": 1792822701876119067, + "capture_stop_time_ns": 1792822708377106599 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "right_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822701876119067, + "capture_stop_time_ns": 1792822708377106599, + "effective_capture_stop_time_ns": 1792822708377106599, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_141818_00035", + "control_generation": 35, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822701876119067, + "capture_stop_time_ns": 1792822708377106599 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 280.810546875, + "reference_source": "max_open_init", + "zero_angle_deg": 280.810546875, + "zero_source": "max_open_init", + "init_total_samples": 49, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.352e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822701879148947, + "camera_frame_count": 260, + "camera_started_time_ns": 1792822699228706203, + "camera_stopped_time_ns": 1792822708380524047, + "camera_actual_fps": 28.409656358103536, + "camera_first_frame_time_ns": 1792822701889575410, + "camera_last_frame_time_ns": 1792822708362226636, + "camera_frame_timestamp_fps": 40.01451506604011, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + 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"read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1619 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141818_00035/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141818_00035/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b5cd44dba6571f404b803e8750d256c2695a221b --- /dev/null +++ b/stack the blocks/session_20261024_141818_00035/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822698362881550, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_141818_00035", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141818_00035/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + 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"/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141806_00034", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141806_00034", + "--control-generation", + "34", + "--ready-token", + "42cbd9f2eebf418c9b3c8f94d6d6279e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822698363534647, + "ended_time_ns": 1792822698378007186, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.diagnostics.json", + "capture_start_time_ns": 1792822690016428913, + "capture_stop_time_ns": 1792822695594494723, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141806_00034/right_hand", + "timing": { + "server_start_request_time_ns": 1792822686591873986, + "subprocess_popen_time_ns": 1792822686596587999, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822686639076492, + "validate_start_time_ns": 1792822687552826841, + "session_dir_create_start_time_ns": 1792822686639892225, + "session_dir_create_end_time_ns": 1792822686640839532, + "as5600_init_start_time_ns": 1792822686641905855, + "as5600_init_end_time_ns": 1792822686642779477, + "as5600_zero_start_time_ns": 1792822686644691775, + "as5600_zero_end_time_ns": 1792822687451624334, + "camera_init_start_time_ns": 1792822687453109265, + "camera_init_end_time_ns": 1792822687455009971, + "camera_start_start_time_ns": 1792822687455899537, + "camera_start_end_time_ns": 1792822687457659780, + "camera_first_frame_wait_start_time_ns": 1792822687460012333, + "camera_first_frame_wait_end_time_ns": 1792822687461417469, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822687462723032, + "armed_time_ns": 1792822687550636045, + "waiting_t0_time_ns": 1792822687554886952, + "recording_start_time_ns": 1792822690016521710, + "stop_request_time_ns": 1792822694688667591, + "finalized_time_ns": 1792822695603341932 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822698180430718, + "ended_time_ns": 1792822698181639096, + "duration_s": 0.001208378, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822698180527198, + "ended_time_ns": 1792822698180753937, + "duration_s": 0.000226739, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822698180531050, + "ok": true, + "ended_time_ns": 1792822698180539624, + "duration_s": 8.574e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822698180540587, + "ok": true, + "ended_time_ns": 1792822698180543791, + "duration_s": 3.204e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822698180544383, + "ok": true, + "ended_time_ns": 1792822698180547828, + "duration_s": 3.445e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822698180548217, + "ok": true, + "ended_time_ns": 1792822698180741789, + "duration_s": 0.000193572 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822698180743085, + "ok": true, + "ended_time_ns": 1792822698180747326, + "duration_s": 4.241e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822698180747900, + "ok": true, + "ended_time_ns": 1792822698180750696, + "duration_s": 2.796e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822698180751363, + "ok": true, + "ended_time_ns": 1792822698180753492, + "duration_s": 2.129e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822698181468375, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822697992222930, + "frame_age_s": 0.189277982, + "heartbeat_age_s": 0.181171351, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822698181505634, + "duration_s": 3.7259e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822698181507875, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 280.6201171906916, + "sample_observed_time_ns": 1792822697983782931, + "sample_age_s": 0.197732832, + "heartbeat_age_s": 0.181200813, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822698181519152, + "duration_s": 1.1277e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822698181520300, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822698181522708, + "duration_s": 2.408e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822698181523819, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822698181637559, + "duration_s": 0.00011374 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 34, + "ready_token": "42cbd9f2eebf418c9b3c8f94d6d6279e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141806_00034.ready.json", + "arm_request_id": "0dc33a0dbeb342b19317f92aaa4a4bfc", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3001, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 34, + "last_bootstrap_time_ns": 1792822696419358113, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822697992222930, + "capture_count": 422, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.6201171906916, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 143, + "max_queue_depth": 143, + "read_count": 143, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822697983782931, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822698000310154 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822697974257978, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6794, + "displayed_count": 5394, + "dropped_count": 1398, + "decode_error_count": 0, + "last_receive_time_ns": 1792822697965214374, + "last_frame_time_ns": 1792822697893401976, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 34, + "last_bootstrap_time_ns": 1792822696419358113, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822697992222930, + "capture_count": 422, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.6201171906916, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 143, + "max_queue_depth": 143, + "read_count": 143, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822697983782931, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822698000310154 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822698381416384, + "ended_time_ns": 1792822698388859389, + "duration_s": 0.000203553, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822698384081979, + "ok": true, + "ended_time_ns": 1792822698384089831, + "duration_s": 7.852e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822698384091701, + "ok": true, + "ended_time_ns": 1792822698384094701, + "duration_s": 3e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822698384095201, + "ok": true, + "ended_time_ns": 1792822698384098312, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822698384098683, + "ok": true, + "ended_time_ns": 1792822698384272033, + "duration_s": 0.00017335 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822698384273052, + "ok": true, + "ended_time_ns": 1792822698384276014, + "duration_s": 2.962e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822698384276533, + "ok": true, + "ended_time_ns": 1792822698384278829, + "duration_s": 2.296e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822698384279218, + "ok": true, + "ended_time_ns": 1792822698384280940, + "duration_s": 1.722e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141818_00035", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141818_00035", + "--control-generation", + "35", + "--ready-token", + "61002806e2a64dcb945ffd72d9021754", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822698404186708, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/right_hand", + "timing": { + "server_start_request_time_ns": 1792822698397379824, + "subprocess_popen_time_ns": 1792822698404186708, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822698384077924, + "ended_time_ns": 1792822698384281477, + "duration_s": 0.000203553, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822698384081979, + "ok": true, + "ended_time_ns": 1792822698384089831, + "duration_s": 7.852e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822698384091701, + "ok": true, + "ended_time_ns": 1792822698384094701, + "duration_s": 3e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822698384095201, + "ok": true, + "ended_time_ns": 1792822698384098312, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822698384098683, + "ok": true, + "ended_time_ns": 1792822698384272033, + "duration_s": 0.00017335 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822698384273052, + "ok": true, + "ended_time_ns": 1792822698384276014, + "duration_s": 2.962e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822698384276533, + "ok": true, + "ended_time_ns": 1792822698384278829, + "duration_s": 2.296e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822698384279218, + "ok": true, + "ended_time_ns": 1792822698384280940, + "duration_s": 1.722e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 35, + "ready_token": "61002806e2a64dcb945ffd72d9021754", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3002, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 34, + "last_bootstrap_time_ns": 1792822696419358113, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822697992222930, + "capture_count": 422, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.6201171906916, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 143, + "max_queue_depth": 143, + "read_count": 143, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822697983782931, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822698000310154 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822697974257978, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6794, + "displayed_count": 5394, + "dropped_count": 1398, + "decode_error_count": 0, + "last_receive_time_ns": 1792822697965214374, + "last_frame_time_ns": 1792822697893401976, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141806_00034", + "generation": 34, + "session_count": 34, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 34, + "last_bootstrap_time_ns": 1792822696419358113, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822697992222930, + "capture_count": 422, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.6201171906916, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 143, + "max_queue_depth": 143, + "read_count": 143, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822697983782931, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822698000310154 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822698392292997, + "ended_time_ns": 1792822698416064056 + }, + "pi_start_request_time_ns": 1792822698416071717, + "capture_start_time_ns": 1792822701876119067, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822707575718691, + "capture_stop_time_ns": 1792822708377106599, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141818_00035", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141818_00035", + "--control-generation", + "35", + "--ready-token", + "61002806e2a64dcb945ffd72d9021754", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822698404186708, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "capture_start_time_ns": 1792822701876119067, + "capture_stop_time_ns": 1792822708377106599, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/right_hand", + "timing": { + "server_start_request_time_ns": 1792822698397379824, + "subprocess_popen_time_ns": 1792822698404186708, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822698411591827, + "validate_start_time_ns": 1792822699409098412, + "session_dir_create_start_time_ns": 1792822698412510134, + "session_dir_create_end_time_ns": 1792822698413500532, + "as5600_init_start_time_ns": 1792822698414857798, + "as5600_init_end_time_ns": 1792822698416035750, + "as5600_zero_start_time_ns": 1792822698417667865, + "as5600_zero_end_time_ns": 1792822699224800886, + "camera_init_start_time_ns": 1792822699226581759, + "camera_init_end_time_ns": 1792822699228710888, + "camera_start_start_time_ns": 1792822699229820100, + "camera_start_end_time_ns": 1792822699231459252, + "camera_first_frame_wait_start_time_ns": 1792822699233119682, + "camera_first_frame_wait_end_time_ns": 1792822699236225858, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822699237750493, + "armed_time_ns": 1792822699407245521, + "waiting_t0_time_ns": 1792822699410976840, + "recording_start_time_ns": 1792822701879162595, + "stop_request_time_ns": 1792822707577340011, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822698384077924, + "ended_time_ns": 1792822698384281477, + "duration_s": 0.000203553, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822698384081979, + "ok": true, + "ended_time_ns": 1792822698384089831, + "duration_s": 7.852e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822698384091701, + "ok": true, + "ended_time_ns": 1792822698384094701, + "duration_s": 3e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822698384095201, + "ok": true, + "ended_time_ns": 1792822698384098312, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822698384098683, + "ok": true, + "ended_time_ns": 1792822698384272033, + "duration_s": 0.00017335 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822698384273052, + "ok": true, + "ended_time_ns": 1792822698384276014, + "duration_s": 2.962e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822698384276533, + "ok": true, + "ended_time_ns": 1792822698384278829, + "duration_s": 2.296e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822698384279218, + "ok": true, + "ended_time_ns": 1792822698384280940, + "duration_s": 1.722e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 35, + "ready_token": "61002806e2a64dcb945ffd72d9021754", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "arm_request_id": "f08c17a3bd4044a982dd9f852ef48835", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3002, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 34, + "last_bootstrap_time_ns": 1792822696419358113, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822698392030927, + "capture_count": 438, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.6201171906916, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 168, + "max_queue_depth": 168, + "read_count": 168, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822698400461259, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822698408471484 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822707576030357, + "ended_time_ns": 1792822707588330784, + "capture_stop_time_ns": 1792822708377106599, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141818_00035", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141818_00035", + "--control-generation", + "35", + "--ready-token", + "61002806e2a64dcb945ffd72d9021754", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822708603620719, + "ended_time_ns": 1792822708621899696, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "capture_start_time_ns": 1792822701876119067, + "capture_stop_time_ns": 1792822708377106599, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/right_hand", + "timing": { + "server_start_request_time_ns": 1792822698397379824, + "subprocess_popen_time_ns": 1792822698404186708, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822698411591827, + "validate_start_time_ns": 1792822699409098412, + "session_dir_create_start_time_ns": 1792822698412510134, + "session_dir_create_end_time_ns": 1792822698413500532, + "as5600_init_start_time_ns": 1792822698414857798, + "as5600_init_end_time_ns": 1792822698416035750, + "as5600_zero_start_time_ns": 1792822698417667865, + "as5600_zero_end_time_ns": 1792822699224800886, + "camera_init_start_time_ns": 1792822699226581759, + "camera_init_end_time_ns": 1792822699228710888, + "camera_start_start_time_ns": 1792822699229820100, + "camera_start_end_time_ns": 1792822699231459252, + "camera_first_frame_wait_start_time_ns": 1792822699233119682, + "camera_first_frame_wait_end_time_ns": 1792822699236225858, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822699237750493, + "armed_time_ns": 1792822699407245521, + "waiting_t0_time_ns": 1792822699410976840, + "recording_start_time_ns": 1792822701879162595, + "stop_request_time_ns": 1792822707579468677, + "finalized_time_ns": 1792822708382422216 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822698384077924, + "ended_time_ns": 1792822698384281477, + "duration_s": 0.000203553, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822698384081979, + "ok": true, + "ended_time_ns": 1792822698384089831, + "duration_s": 7.852e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822698384091701, + "ok": true, + "ended_time_ns": 1792822698384094701, + "duration_s": 3e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822698384095201, + "ok": true, + "ended_time_ns": 1792822698384098312, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822698384098683, + "ok": true, + "ended_time_ns": 1792822698384272033, + "duration_s": 0.00017335 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822698384273052, + "ok": true, + "ended_time_ns": 1792822698384276014, + "duration_s": 2.962e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822698384276533, + "ok": true, + "ended_time_ns": 1792822698384278829, + "duration_s": 2.296e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822698384279218, + "ok": true, + "ended_time_ns": 1792822698384280940, + "duration_s": 1.722e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 35, + "ready_token": "61002806e2a64dcb945ffd72d9021754", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "arm_request_id": "f08c17a3bd4044a982dd9f852ef48835", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3002, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 35, + "last_bootstrap_time_ns": 1792822708386502365, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822708389663929, + "capture_count": 367, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.810546875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 208, + "read_count": 767, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822708383961702, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822708391196749 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822708340819438, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6884, + "displayed_count": 5453, + "dropped_count": 1429, + "decode_error_count": 0, + "last_receive_time_ns": 1792822708304540520, + "last_frame_time_ns": 1792822708157589365, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 35, + "last_bootstrap_time_ns": 1792822708386502365, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + 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"DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822698412589352, + "ok": true, + "ended_time_ns": 1792822698412597370, + "duration_s": 8.018e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822698412599240, + "ok": true, + "ended_time_ns": 1792822698412602000, + "duration_s": 2.76e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822698412602481, + "ok": true, + "ended_time_ns": 1792822698412605166, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822698412605537, + "ok": true, + "ended_time_ns": 1792822698412786349, + "duration_s": 0.000180812 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822698412787627, + "ok": true, + "ended_time_ns": 1792822698412790849, + "duration_s": 3.222e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822698412791404, + "ok": true, + 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state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": 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"line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 35, + "ready_token": "d9923937bfc84bcbaad01526f910576c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "arm_request_id": "f08c17a3bd4044a982dd9f852ef48835", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2174, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 35, + "last_bootstrap_time_ns": 1792822709201470975, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822710715542840, + "capture_count": 458, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.88671875000001, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822710711101771, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822710720472200 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822710433635060, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7390, + "displayed_count": 7203, + "dropped_count": 186, + "decode_error_count": 0, + "last_receive_time_ns": 1792822710344365965, + "last_frame_time_ns": 1792822710324149959, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 35, + "last_bootstrap_time_ns": 1792822709201470975, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822710715542840, + "capture_count": 458, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.88671875000001, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822710711101771, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822710720472200 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822710918569472, + "ended_time_ns": 1792822710929501404, + "duration_s": 0.001058819, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822710918234539, + "ended_time_ns": 1792822710918439943, + "duration_s": 0.000205404, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822710918238353, + "ok": true, + "ended_time_ns": 1792822710918245872, + "duration_s": 7.519e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822710918246909, + "ok": true, + "ended_time_ns": 1792822710918249427, + "duration_s": 2.518e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822710918249927, + "ok": true, + "ended_time_ns": 1792822710918252909, + "duration_s": 2.982e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822710918253242, + "ok": true, + "ended_time_ns": 1792822710918429888, + "duration_s": 0.000176646 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822710918430758, + "ok": true, + "ended_time_ns": 1792822710918433925, + "duration_s": 3.167e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822710918434443, + "ok": true, + "ended_time_ns": 1792822710918437073, + "duration_s": 2.63e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822710918437554, + "ok": true, + "ended_time_ns": 1792822710918439517, + "duration_s": 1.963e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822710919067324, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822710715542840, + "frame_age_s": 0.203551891, + "heartbeat_age_s": 0.198606309, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822710919099638, + "duration_s": 3.2314e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822710919101397, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 103.88671875000001, + "sample_observed_time_ns": 1792822710711101771, + "sample_age_s": 0.208006108, + "heartbeat_age_s": 0.198631827, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822710919111193, + "duration_s": 9.796e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822710919115749, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822710919208951, + "duration_s": 9.3202e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822710929509478, + "ended_time_ns": 1792822711034934409, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141818_00035", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141818_00035", + "--control-generation", + "35", + "--ready-token", + "61002806e2a64dcb945ffd72d9021754", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822711034949910, + "ended_time_ns": 1792822711051684302, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": 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1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822698411591827, + "validate_start_time_ns": 1792822699409098412, + "session_dir_create_start_time_ns": 1792822698412510134, + "session_dir_create_end_time_ns": 1792822698413500532, + "as5600_init_start_time_ns": 1792822698414857798, + "as5600_init_end_time_ns": 1792822698416035750, + "as5600_zero_start_time_ns": 1792822698417667865, + "as5600_zero_end_time_ns": 1792822699224800886, + "camera_init_start_time_ns": 1792822699226581759, + "camera_init_end_time_ns": 1792822699228710888, + "camera_start_start_time_ns": 1792822699229820100, + "camera_start_end_time_ns": 1792822699231459252, + "camera_first_frame_wait_start_time_ns": 1792822699233119682, + "camera_first_frame_wait_end_time_ns": 1792822699236225858, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822699237750493, + "armed_time_ns": 1792822699407245521, + "waiting_t0_time_ns": 1792822699410976840, + "recording_start_time_ns": 1792822701879162595, + "stop_request_time_ns": 1792822707579468677, + "finalized_time_ns": 1792822708382422216 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822698384077924, + "ended_time_ns": 1792822698384281477, + "duration_s": 0.000203553, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822698384081979, + "ok": true, + "ended_time_ns": 1792822698384089831, + "duration_s": 7.852e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822698384091701, + "ok": true, + "ended_time_ns": 1792822698384094701, + "duration_s": 3e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822698384095201, + "ok": true, + "ended_time_ns": 1792822698384098312, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822698384098683, + "ok": true, + "ended_time_ns": 1792822698384272033, + "duration_s": 0.00017335 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822698384273052, + "ok": true, + "ended_time_ns": 1792822698384276014, + "duration_s": 2.962e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822698384276533, + "ok": true, + "ended_time_ns": 1792822698384278829, + "duration_s": 2.296e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822698384279218, + "ok": true, + "ended_time_ns": 1792822698384280940, + "duration_s": 1.722e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 35, + "ready_token": "61002806e2a64dcb945ffd72d9021754", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "arm_request_id": "f08c17a3bd4044a982dd9f852ef48835", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3002, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 35, + "last_bootstrap_time_ns": 1792822708386502365, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822710914202368, + "capture_count": 468, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.810546875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 208, + "read_count": 919, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822710917119861, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822710919687727 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822710597860461, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6902, + "displayed_count": 5469, + "dropped_count": 1432, + "decode_error_count": 0, + "last_receive_time_ns": 1792822710494377975, + "last_frame_time_ns": 1792822710496348142, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 35, + "last_bootstrap_time_ns": 1792822708386502365, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822710914202368, + "capture_count": 468, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.810546875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 208, + "read_count": 919, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822710917119861, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822710919687727 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822711075184065, + "ended_time_ns": 1792822711086921226, + "duration_s": 0.00177591, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822711079197251, + "ended_time_ns": 1792822711079407453, + "duration_s": 0.000210202, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822711079200511, + "ok": true, + "ended_time_ns": 1792822711079209085, + "duration_s": 8.574e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822711079210233, + "ok": true, + "ended_time_ns": 1792822711079213473, + "duration_s": 3.24e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822711079213918, + "ok": true, + "ended_time_ns": 1792822711079216992, + "duration_s": 3.074e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822711079217362, + "ok": true, + "ended_time_ns": 1792822711079396490, + "duration_s": 0.000179128 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822711079397564, + "ok": true, + "ended_time_ns": 1792822711079401342, + "duration_s": 3.778e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822711079401916, + "ok": true, + "ended_time_ns": 1792822711079404601, + "duration_s": 2.685e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822711079405027, + "ok": true, + "ended_time_ns": 1792822711079406972, + "duration_s": 1.945e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822711080656720, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822710914202368, + "frame_age_s": 0.166499888, + "heartbeat_age_s": 0.160990437, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822711080708608, + "duration_s": 5.1888e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822711080711386, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 280.810546875, + "sample_observed_time_ns": 1792822710917119861, + "sample_age_s": 0.163603321, + "heartbeat_age_s": 0.161026696, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822711080727719, + "duration_s": 1.6333e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822711080733627, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822711080885755, + "duration_s": 0.000152128 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822711086933756, + "ended_time_ns": 1792822711184063218, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823191616339718, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823176368603378, + "ended_time_ns": 1792823176383467538, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823176383645150, + "ended_time_ns": 1792823176463138393, + "transferred_bytes": 13686, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,686 bytes\nTotal transferred file size: 13,686 bytes\nLiteral data: 13,686 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,821\n\nsent 46 bytes received 13,821 bytes 27,734.00 bytes/sec\ntotal size is 13,686 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823176463478640, + "ended_time_ns": 1792823191615292531, + "transferred_bytes": 8819234, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,819,234 bytes\nTotal transferred file size: 8,819,234 bytes\nLiteral data: 8,819,234 bytes\nMatched data: 0 bytes\nFile list size: 224\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,821,796\n\nsent 168 bytes received 8,821,796 bytes 569,158.97 bytes/sec\ntotal size is 8,819,234 speedup is 1.00" + } + ], + "transferred_bytes": 8832920, + "copied_local_bytes": 9294006, + "started_time_ns": 1792823176367646423, + "ended_time_ns": 1792823191615677732 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823176368833776, + "ended_time_ns": 1792823176388694619, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823176388848992, + "ended_time_ns": 1792823176451726182, + "transferred_bytes": 13691, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,691 bytes\nTotal transferred file size: 13,691 bytes\nLiteral data: 13,691 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,826\n\nsent 46 bytes received 13,826 bytes 27,744.00 bytes/sec\ntotal size is 13,691 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823176452042875, + "ended_time_ns": 1792823177053816075, + "transferred_bytes": 8479483, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,479,483 bytes\nTotal transferred file size: 8,479,483 bytes\nLiteral data: 8,479,483 bytes\nMatched data: 0 bytes\nFile list size: 215\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,481,952\n\nsent 168 bytes received 8,481,952 bytes 5,654,746.67 bytes/sec\ntotal size is 8,479,483 speedup is 1.00" + } + ], + "transferred_bytes": 8493174, + "copied_local_bytes": 8936918, + "started_time_ns": 1792823176368083972, + "ended_time_ns": 1792823177054058960 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_141831_00036", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823377432438201, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823377047841126, + "ended_time_ns": 1792823377432042203, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823377047841126, + "ended_time_ns": 1792823377229197589, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141831_00036", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141831_00036_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141831_00036 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141831_00036_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141831_00036_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141831_00036_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141831_00036\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822714775439035\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822714775439035，vive_T0=1792822714775439035，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822721079302513，vive_Tstop=1792822721079302513，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005870s，first=1792822714781309254，T0=1792822714775439035，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003025s，last=1792822721076277781，Tstop=1792822721079302513，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1260\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00099994145688 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00099994145688 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1260，metadata 1260\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00100503688765 Hz，最低 150.0 Hz，时长 6.294968366622925 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00100503688765 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006010532379150391s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994398802..1.0000000005838086，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.001124897506336464m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.403249293446888deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=252 duration=6.3s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=252，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 252，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=251，rows=252，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=252，monotonic违规=0，估算频率=40.03456396042042Hz，最大间隔=0.032725763s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 252，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.034565614271 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.034565614271 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032725615s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 379，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 38.5796..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 379，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00044360327977 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00044360327977 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019670236s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=379，bad_rows=0，monotonic违规=0，估算频率=60.00046706077859Hz，最大间隔=0.019670217s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 252，metadata 252\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 379，metadata 379\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 252，timestamps 252，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=252，timestamps=252，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.030s，video=6.3s，timestamps=6.269582200999998s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.030s，camera=6.269582200999998s，clamp=6.2999534219999935s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822714775439035，pi_T0=1792822714775439035，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822721079302513，pi_Tstop=1792822721079302513，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013848s，first=1792822714789287037，T0=1792822714775439035，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.002372s，first=1792822714777811006，T0=1792822714775439035，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.020433s，last=1792822721058869238，Tstop=1792822721079302513，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.001538s，last=1792822721077764428，Tstop=1792822721079302513，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.025386s，vive=6.294968527s，camera=6.269582200999998s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.004985s，vive=6.294968527s，clamp=6.2999534219999935s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.007978s，vive_first=1792822714781309254，camera_first=1792822714789287037，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.003498s，vive_first=1792822714781309254，clamp_first=1792822714777811006，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.017409s，vive_last=1792822721076277781，camera_last=1792822721058869238，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.001487s，vive_last=1792822721076277781，clamp_last=1792822721077764428，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141831_00036_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823377229568342, + "ended_time_ns": 1792823377432042203, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141831_00036", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141831_00036_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141831_00036 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141831_00036_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141831_00036_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141831_00036_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141831_00036\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822714775439035\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822714775439035，vive_T0=1792822714775439035，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822721079302513，vive_Tstop=1792822721079302513，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005870s，first=1792822714781309254，T0=1792822714775439035，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003025s，last=1792822721076277781，Tstop=1792822721079302513，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1260\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00099994145688 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00099994145688 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1260，metadata 1260\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00100503688765 Hz，最低 150.0 Hz，时长 6.294968366622925 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00100503688765 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006010532379150391s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994120761..1.0000000005623435，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0027183221219792887m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.6306838272223306deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=253 duration=6.325s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=253，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 253，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=252，rows=253，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=253，monotonic违规=0，估算频率=40.026350184974106Hz，最大间隔=0.032041677s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 253，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.026348659156334 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.026348659156334 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032041141s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 378，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 378，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000237795106884 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.000237795106884 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019884453s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=378，bad_rows=0，monotonic违规=0，估算频率=60.00026980386575Hz，最大间隔=0.019884823s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 253，metadata 253\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 378，metadata 378\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 253，timestamps 253，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=253，timestamps=253，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.029s，video=6.325s，timestamps=6.295852818000002s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.013s，camera=6.295852818000002s，clamp=6.283308431000001s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822714775439035，pi_T0=1792822714775439035，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822721079302513，pi_Tstop=1792822721079302513，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.006311s，first=1792822714781750169，T0=1792822714775439035，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.008368s，first=1792822714783807502，T0=1792822714775439035，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.001700s，last=1792822721077602987，Tstop=1792822721079302513，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.012187s，last=1792822721067115933，Tstop=1792822721079302513，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.000884s，vive=6.294968527s，camera=6.295852818000002s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.011660s，vive=6.294968527s，clamp=6.283308431000001s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.000441s，vive_first=1792822714781309254，camera_first=1792822714781750169，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.002498s，vive_first=1792822714781309254，clamp_first=1792822714783807502，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.001325s，vive_last=1792822721076277781，camera_last=1792822721077602987，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.009162s，vive_last=1792822721076277781，clamp_last=1792822721067115933，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141831_00036_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141831_00036_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141831_00036\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822714775439035\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822714775439035，vive_T0=1792822714775439035，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822721079302513，vive_Tstop=1792822721079302513，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005870s，first=1792822714781309254，T0=1792822714775439035，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003025s，last=1792822721076277781，Tstop=1792822721079302513，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1260\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00099994145688 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00099994145688 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1260，metadata 1260\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00100503688765 Hz，最低 150.0 Hz，时长 6.294968366622925 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00100503688765 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006010532379150391s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994398802..1.0000000005838086，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.001124897506336464m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.403249293446888deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=252 duration=6.3s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=252，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 252，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=251，rows=252，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=252，monotonic违规=0，估算频率=40.03456396042042Hz，最大间隔=0.032725763s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 252，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.034565614271 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.034565614271 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032725615s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 379，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 38.5796..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 379，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00044360327977 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00044360327977 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019670236s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=379，bad_rows=0，monotonic违规=0，估算频率=60.00046706077859Hz，最大间隔=0.019670217s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 252，metadata 252\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 379，metadata 379\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 252，timestamps 252，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=252，timestamps=252，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.030s，video=6.3s，timestamps=6.269582200999998s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.030s，camera=6.269582200999998s，clamp=6.2999534219999935s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822714775439035，pi_T0=1792822714775439035，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822721079302513，pi_Tstop=1792822721079302513，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013848s，first=1792822714789287037，T0=1792822714775439035，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.002372s，first=1792822714777811006，T0=1792822714775439035，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.020433s，last=1792822721058869238，Tstop=1792822721079302513，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.001538s，last=1792822721077764428，Tstop=1792822721079302513，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.025386s，vive=6.294968527s，camera=6.269582200999998s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.004985s，vive=6.294968527s，clamp=6.2999534219999935s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.007978s，vive_first=1792822714781309254，camera_first=1792822714789287037，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.003498s，vive_first=1792822714781309254，clamp_first=1792822714777811006，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.017409s，vive_last=1792822721076277781，camera_last=1792822721058869238，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.001487s，vive_last=1792822721076277781，clamp_last=1792822721077764428，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141831_00036_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141831_00036\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822714775439035\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822714775439035，vive_T0=1792822714775439035，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822721079302513，vive_Tstop=1792822721079302513，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005870s，first=1792822714781309254，T0=1792822714775439035，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003025s，last=1792822721076277781，Tstop=1792822721079302513，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1260\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00099994145688 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00099994145688 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1260，metadata 1260\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00100503688765 Hz，最低 150.0 Hz，时长 6.294968366622925 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00100503688765 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006010532379150391s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994120761..1.0000000005623435，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0027183221219792887m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.6306838272223306deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=253 duration=6.325s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=253，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 253，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=252，rows=253，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=253，monotonic违规=0，估算频率=40.026350184974106Hz，最大间隔=0.032041677s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 253，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.026348659156334 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.026348659156334 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032041141s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 378，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 378，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000237795106884 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.000237795106884 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019884453s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=378，bad_rows=0，monotonic违规=0，估算频率=60.00026980386575Hz，最大间隔=0.019884823s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 253，metadata 253\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 378，metadata 378\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 253，timestamps 253，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=253，timestamps=253，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.029s，video=6.325s，timestamps=6.295852818000002s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.013s，camera=6.295852818000002s，clamp=6.283308431000001s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822714775439035，pi_T0=1792822714775439035，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822721079302513，pi_Tstop=1792822721079302513，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.006311s，first=1792822714781750169，T0=1792822714775439035，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.008368s，first=1792822714783807502，T0=1792822714775439035，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.001700s，last=1792822721077602987，Tstop=1792822721079302513，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.012187s，last=1792822721067115933，Tstop=1792822721079302513，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.000884s，vive=6.294968527s，camera=6.295852818000002s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.011660s，vive=6.294968527s，clamp=6.283308431000001s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.000441s，vive_first=1792822714781309254，camera_first=1792822714781750169，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.002498s，vive_first=1792822714781309254，clamp_first=1792822714783807502，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.001325s，vive_last=1792822721076277781，camera_last=1792822721077602987，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.009162s，vive_last=1792822721076277781，clamp_last=1792822721067115933，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141831_00036_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141831_00036/control/stop_left_hand.flag b/stack the blocks/session_20261024_141831_00036/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..de8af67aab6b82ac0658f5e76e12a423655b2240 --- /dev/null +++ b/stack the blocks/session_20261024_141831_00036/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822721079302513 \ No newline at end of file diff --git a/stack the blocks/session_20261024_141831_00036/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the blocks/session_20261024_141831_00036/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 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1792822721077764428, + "clamp_actual_hz": 60.000443603279706, + "clamp_value_min": 38.57963355244486, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 205, + "read_count": 762, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1587 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141831_00036/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141831_00036/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5ba79a1b99e0a23a244721d7e18ce15dd4fe5cc5 --- /dev/null +++ b/stack the blocks/session_20261024_141831_00036/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822711276267401, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_141831_00036", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141818_00035", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141818_00035", + "--control-generation", + "35", + "--ready-token", + "d9923937bfc84bcbaad01526f910576c", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822711276795384, + "ended_time_ns": 1792822711290815054, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "capture_start_time_ns": 1792822701876119067, + "capture_stop_time_ns": 1792822708377106599, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141818_00035/left_hand", + "timing": { + "server_start_request_time_ns": 1792822698427591853, + "subprocess_popen_time_ns": 1792822698432998558, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822698461702487, + "validate_start_time_ns": 1792822699395008242, + "session_dir_create_start_time_ns": 1792822698462455921, + "session_dir_create_end_time_ns": 1792822698463370502, + "as5600_init_start_time_ns": 1792822698464458450, + "as5600_init_end_time_ns": 1792822698465611564, + "as5600_zero_start_time_ns": 1792822698467218357, + "as5600_zero_end_time_ns": 1792822699270744729, + "camera_init_start_time_ns": 1792822699273057957, + "camera_init_end_time_ns": 1792822699277364529, + "camera_start_start_time_ns": 1792822699278400552, + "camera_start_end_time_ns": 1792822699279997919, + "camera_first_frame_wait_start_time_ns": 1792822699281633971, + "camera_first_frame_wait_end_time_ns": 1792822699283240579, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822699285816656, + "armed_time_ns": 1792822699393805628, + "waiting_t0_time_ns": 1792822699396792699, + "recording_start_time_ns": 1792822701876360738, + "stop_request_time_ns": 1792822707443279562, + "finalized_time_ns": 1792822708385515549 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822710918151706, + "ended_time_ns": 1792822710919210525, + "duration_s": 0.001058819, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822710918234539, + "ended_time_ns": 1792822710918439943, + "duration_s": 0.000205404, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822710918238353, + "ok": true, + "ended_time_ns": 1792822710918245872, + "duration_s": 7.519e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822710918246909, + "ok": true, + "ended_time_ns": 1792822710918249427, + "duration_s": 2.518e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822710918249927, + "ok": true, + "ended_time_ns": 1792822710918252909, + "duration_s": 2.982e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822710918253242, + "ok": true, + "ended_time_ns": 1792822710918429888, + "duration_s": 0.000176646 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822710918430758, + "ok": true, + "ended_time_ns": 1792822710918433925, + "duration_s": 3.167e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822710918434443, + "ok": true, + "ended_time_ns": 1792822710918437073, + "duration_s": 2.63e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822710918437554, + "ok": true, + "ended_time_ns": 1792822710918439517, + "duration_s": 1.963e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822710919067324, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822710715542840, + "frame_age_s": 0.203551891, + "heartbeat_age_s": 0.198606309, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822710919099638, + "duration_s": 3.2314e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822710919101397, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 103.88671875000001, + "sample_observed_time_ns": 1792822710711101771, + "sample_age_s": 0.208006108, + "heartbeat_age_s": 0.198631827, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822710919111193, + "duration_s": 9.796e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822710919112527, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822710919114767, + "duration_s": 2.24e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822710919115749, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822710919208951, + "duration_s": 9.3202e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 35, + "ready_token": "d9923937bfc84bcbaad01526f910576c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "arm_request_id": "f08c17a3bd4044a982dd9f852ef48835", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2174, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 35, + "last_bootstrap_time_ns": 1792822709201470975, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822711215456446, + "capture_count": 478, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.88671875000001, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 171, + "max_queue_depth": 171, + "read_count": 171, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822711227763762, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822711229721476 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822710433635060, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7390, + "displayed_count": 7203, + "dropped_count": 186, + "decode_error_count": 0, + "last_receive_time_ns": 1792822710344365965, + "last_frame_time_ns": 1792822710324149959, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 35, + "last_bootstrap_time_ns": 1792822709201470975, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822711215456446, + "capture_count": 478, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.88671875000001, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 171, + "max_queue_depth": 171, + "read_count": 171, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822711227763762, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822711229721476 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822711293954027, + "ended_time_ns": 1792822711308747573, + "duration_s": 0.000306162, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822711296819610, + "ok": true, + "ended_time_ns": 1792822711296828777, + "duration_s": 9.167e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822711296830333, + "ok": true, + "ended_time_ns": 1792822711296833073, + "duration_s": 2.74e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822711296833481, + "ok": true, + "ended_time_ns": 1792822711296836166, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822711296836518, + "ok": true, + "ended_time_ns": 1792822711297083588, + "duration_s": 0.00024707 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822711297088922, + "ok": true, + "ended_time_ns": 1792822711297104144, + "duration_s": 1.5222e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822711297106532, + "ok": true, + "ended_time_ns": 1792822711297113977, + "duration_s": 7.445e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822711297114773, + "ok": true, + "ended_time_ns": 1792822711297120106, + "duration_s": 5.333e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141831_00036", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141831_00036", + "--control-generation", + "36", + "--ready-token", + "36ccc8a08af4418f9f41d579879c849c", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822711317285205, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/left_hand", + "timing": { + "server_start_request_time_ns": 1792822711312111219, + "subprocess_popen_time_ns": 1792822711317285205, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822711296814685, + "ended_time_ns": 1792822711297120847, + "duration_s": 0.000306162, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822711296819610, + "ok": true, + "ended_time_ns": 1792822711296828777, + "duration_s": 9.167e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822711296830333, + "ok": true, + "ended_time_ns": 1792822711296833073, + "duration_s": 2.74e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822711296833481, + "ok": true, + "ended_time_ns": 1792822711296836166, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822711296836518, + "ok": true, + "ended_time_ns": 1792822711297083588, + "duration_s": 0.00024707 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822711297088922, + "ok": true, + "ended_time_ns": 1792822711297104144, + "duration_s": 1.5222e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822711297106532, + "ok": true, + "ended_time_ns": 1792822711297113977, + "duration_s": 7.445e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822711297114773, + "ok": true, + "ended_time_ns": 1792822711297120106, + "duration_s": 5.333e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 36, + "ready_token": "36ccc8a08af4418f9f41d579879c849c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2175, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 35, + "last_bootstrap_time_ns": 1792822709201470975, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822711215456446, + "capture_count": 478, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.88671875000001, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 171, + "max_queue_depth": 171, + "read_count": 171, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822711227763762, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822711229721476 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822710433635060, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7390, + "displayed_count": 7203, + "dropped_count": 186, + "decode_error_count": 0, + "last_receive_time_ns": 1792822710344365965, + "last_frame_time_ns": 1792822710324149959, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 35, + "last_bootstrap_time_ns": 1792822709201470975, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822711215456446, + "capture_count": 478, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.88671875000001, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 171, + "max_queue_depth": 171, + "read_count": 171, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822711227763762, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822711229721476 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822711312756178, + "ended_time_ns": 1792822711332663511 + }, + "pi_start_request_time_ns": 1792822711332672290, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822711336245284, + "capture_start_time_ns": 1792822714775439035, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822720208523475, + "capture_stop_time_ns": 1792822721079302513, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141831_00036", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141831_00036", + "--control-generation", + "36", + "--ready-token", + "36ccc8a08af4418f9f41d579879c849c", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822711317285205, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.diagnostics.json", + "capture_start_time_ns": 1792822714775439035, + "capture_stop_time_ns": 1792822721079302513, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/left_hand", + "timing": { + "server_start_request_time_ns": 1792822711312111219, + "subprocess_popen_time_ns": 1792822711317285205, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822711373885703, + "validate_start_time_ns": 1792822712307756487, + "session_dir_create_start_time_ns": 1792822711374935189, + "session_dir_create_end_time_ns": 1792822711375931249, + "as5600_init_start_time_ns": 1792822711376927310, + "as5600_init_end_time_ns": 1792822711377733484, + "as5600_zero_start_time_ns": 1792822711380477596, + "as5600_zero_end_time_ns": 1792822712186976002, + "camera_init_start_time_ns": 1792822712189608485, + "camera_init_end_time_ns": 1792822712192508316, + "camera_start_start_time_ns": 1792822712193381175, + "camera_start_end_time_ns": 1792822712196675149, + "camera_first_frame_wait_start_time_ns": 1792822712197993279, + "camera_first_frame_wait_end_time_ns": 1792822712199249022, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822712200399358, + "armed_time_ns": 1792822712306825148, + "waiting_t0_time_ns": 1792822712309421354, + "recording_start_time_ns": 1792822714780091549, + "stop_request_time_ns": 1792822720208356998, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822711296814685, + "ended_time_ns": 1792822711297120847, + "duration_s": 0.000306162, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822711296819610, + "ok": true, + "ended_time_ns": 1792822711296828777, + "duration_s": 9.167e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822711296830333, + "ok": true, + "ended_time_ns": 1792822711296833073, + "duration_s": 2.74e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822711296833481, + "ok": true, + "ended_time_ns": 1792822711296836166, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822711296836518, + "ok": true, + "ended_time_ns": 1792822711297083588, + "duration_s": 0.00024707 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822711297088922, + "ok": true, + "ended_time_ns": 1792822711297104144, + "duration_s": 1.5222e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822711297106532, + "ok": true, + "ended_time_ns": 1792822711297113977, + "duration_s": 7.445e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822711297114773, + "ok": true, + "ended_time_ns": 1792822711297120106, + "duration_s": 5.333e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 36, + "ready_token": "36ccc8a08af4418f9f41d579879c849c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.ready.json", + "arm_request_id": "63b77ad238f9480ca4e61ec568da9177", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2175, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_141831_00036", + "generation": 36, + "session_count": 36, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 35, + "last_bootstrap_time_ns": 1792822709201470975, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822711315767078, + "capture_count": 482, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.88671875000001, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 177, + "max_queue_depth": 177, + "read_count": 177, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822711327766231, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822711335072299 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822720209041193, + "ended_time_ns": 1792822720225179493, + "capture_stop_time_ns": 1792822721079302513, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_141831_00036", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 136967 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 137340 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141686 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 137022 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 137340 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129662 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141831_00036", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141831_00036", + "--control-generation", + "36", + "--ready-token", + "36ccc8a08af4418f9f41d579879c849c", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822722107242014, + "ended_time_ns": 1792822722123643644, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.diagnostics.json", + "capture_start_time_ns": 1792822714775439035, + "capture_stop_time_ns": 1792822721079302513, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/left_hand", + "timing": { + "server_start_request_time_ns": 1792822711312111219, + "subprocess_popen_time_ns": 1792822711317285205, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822711373885703, + "validate_start_time_ns": 1792822712307756487, + "session_dir_create_start_time_ns": 1792822711374935189, + "session_dir_create_end_time_ns": 1792822711375931249, + "as5600_init_start_time_ns": 1792822711376927310, + "as5600_init_end_time_ns": 1792822711377733484, + "as5600_zero_start_time_ns": 1792822711380477596, + "as5600_zero_end_time_ns": 1792822712186976002, + "camera_init_start_time_ns": 1792822712189608485, + "camera_init_end_time_ns": 1792822712192508316, + "camera_start_start_time_ns": 1792822712193381175, + "camera_start_end_time_ns": 1792822712196675149, + "camera_first_frame_wait_start_time_ns": 1792822712197993279, + "camera_first_frame_wait_end_time_ns": 1792822712199249022, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822712200399358, + "armed_time_ns": 1792822712306825148, + "waiting_t0_time_ns": 1792822712309421354, + "recording_start_time_ns": 1792822714780091549, + "stop_request_time_ns": 1792822720215572716, + "finalized_time_ns": 1792822721082940099 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822711296814685, + "ended_time_ns": 1792822711297120847, + "duration_s": 0.000306162, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822711296819610, + "ok": true, + "ended_time_ns": 1792822711296828777, + "duration_s": 9.167e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822711296830333, + "ok": true, + "ended_time_ns": 1792822711296833073, + "duration_s": 2.74e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822711296833481, + "ok": true, + "ended_time_ns": 1792822711296836166, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822711296836518, + "ok": true, + "ended_time_ns": 1792822711297083588, + "duration_s": 0.00024707 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822711297088922, + "ok": true, + "ended_time_ns": 1792822711297104144, + "duration_s": 1.5222e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822711297106532, + "ok": true, + "ended_time_ns": 1792822711297113977, + "duration_s": 7.445e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822711297114773, + "ok": true, + "ended_time_ns": 1792822711297120106, + "duration_s": 5.333e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 36, + "ready_token": "36ccc8a08af4418f9f41d579879c849c", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.ready.json", + "arm_request_id": "63b77ad238f9480ca4e61ec568da9177", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2175, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141831_00036", + "generation": 36, + "session_count": 36, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 36, + "last_bootstrap_time_ns": 1792822721898527383, + "bootstrap_errors": {}, + "camera": { + "configured": true, + 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"camera_start_start_time_ns": 1792822712196379327, + "camera_start_end_time_ns": 1792822712197739204, + "camera_first_frame_wait_start_time_ns": 1792822712200286644, + "camera_first_frame_wait_end_time_ns": 1792822712203332302, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822712204616254, + "armed_time_ns": 1792822712310706087, + "waiting_t0_time_ns": 1792822712313188750, + "recording_start_time_ns": 1792822714779163488, + "stop_request_time_ns": 1792822720279535109, + "finalized_time_ns": 1792822721100994261 + }, + "last_error": null, + "capture_start_time_ns": 1792822714775439035, + "capture_stop_time_ns": 1792822721079302513 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "right_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822714775439035, + "capture_stop_time_ns": 1792822721079302513, + "effective_capture_stop_time_ns": 1792822721079302513, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_141831_00036", + "control_generation": 36, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822714775439035, + "capture_stop_time_ns": 1792822721079302513 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 280.810546875, + "reference_source": "max_open_init", + "zero_angle_deg": 280.810546875, + "zero_source": "max_open_init", + "init_total_samples": 49, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 7.592e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822714779148618, + "camera_frame_count": 253, + "camera_started_time_ns": 1792822712195384595, + "camera_stopped_time_ns": 1792822721099049630, + "camera_actual_fps": 28.415264838183575, + "camera_first_frame_time_ns": 1792822714781750169, + "camera_last_frame_time_ns": 1792822721077602987, + "camera_frame_timestamp_fps": 40.02634865915635, + 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100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 208, + "read_count": 1529, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1596 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141831_00036/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141831_00036/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..dbefe92655233c8bb1a0449c72a9f0736dbf4cb7 --- /dev/null +++ b/stack the blocks/session_20261024_141831_00036/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822711285242485, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_141831_00036", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141831_00036/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 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120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141818_00035", + "pid": 1102, + "command": [ + "/usr/bin/python3", + 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"/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141818_00035", + "--control-generation", + "35", + "--ready-token", + "61002806e2a64dcb945ffd72d9021754", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822711285751491, + "ended_time_ns": 1792822711305236697, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.diagnostics.json", + 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"configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822698411591827, + "validate_start_time_ns": 1792822699409098412, + "session_dir_create_start_time_ns": 1792822698412510134, + "session_dir_create_end_time_ns": 1792822698413500532, + "as5600_init_start_time_ns": 1792822698414857798, + "as5600_init_end_time_ns": 1792822698416035750, + "as5600_zero_start_time_ns": 1792822698417667865, + "as5600_zero_end_time_ns": 1792822699224800886, + "camera_init_start_time_ns": 1792822699226581759, + "camera_init_end_time_ns": 1792822699228710888, + "camera_start_start_time_ns": 1792822699229820100, + "camera_start_end_time_ns": 1792822699231459252, + "camera_first_frame_wait_start_time_ns": 1792822699233119682, + "camera_first_frame_wait_end_time_ns": 1792822699236225858, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822699237750493, + "armed_time_ns": 1792822699407245521, + "waiting_t0_time_ns": 1792822699410976840, + "recording_start_time_ns": 1792822701879162595, + "stop_request_time_ns": 1792822707579468677, + "finalized_time_ns": 1792822708382422216 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822711079111826, + "ended_time_ns": 1792822711080887736, + "duration_s": 0.00177591, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822711079197251, + "ended_time_ns": 1792822711079407453, + "duration_s": 0.000210202, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822711079200511, + "ok": true, + "ended_time_ns": 1792822711079209085, + "duration_s": 8.574e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822711079210233, + "ok": true, + "ended_time_ns": 1792822711079213473, + "duration_s": 3.24e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822711079213918, + "ok": true, + "ended_time_ns": 1792822711079216992, + "duration_s": 3.074e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822711079217362, + "ok": true, + "ended_time_ns": 1792822711079396490, + "duration_s": 0.000179128 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822711079397564, + "ok": true, + "ended_time_ns": 1792822711079401342, + "duration_s": 3.778e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822711079401916, + "ok": true, + "ended_time_ns": 1792822711079404601, + "duration_s": 2.685e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822711079405027, + "ok": true, + "ended_time_ns": 1792822711079406972, + "duration_s": 1.945e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822711080656720, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822710914202368, + "frame_age_s": 0.166499888, + "heartbeat_age_s": 0.160990437, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822711080708608, + "duration_s": 5.1888e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822711080711386, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 280.810546875, + "sample_observed_time_ns": 1792822710917119861, + "sample_age_s": 0.163603321, + "heartbeat_age_s": 0.161026696, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822711080727719, + "duration_s": 1.6333e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822711080729108, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822711080732238, + "duration_s": 3.13e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822711080733627, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822711080885755, + "duration_s": 0.000152128 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 35, + "ready_token": "61002806e2a64dcb945ffd72d9021754", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141818_00035.ready.json", + "arm_request_id": "f08c17a3bd4044a982dd9f852ef48835", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3002, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 35, + "last_bootstrap_time_ns": 1792822708386502365, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822710914202368, + "capture_count": 468, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.810546875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 208, + "read_count": 919, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822710917119861, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822710919687727 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822710597860461, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6902, + "displayed_count": 5469, + "dropped_count": 1432, + "decode_error_count": 0, + "last_receive_time_ns": 1792822710494377975, + "last_frame_time_ns": 1792822710496348142, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 35, + "last_bootstrap_time_ns": 1792822708386502365, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822710914202368, + "capture_count": 468, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.810546875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 208, + "read_count": 919, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822710917119861, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822710919687727 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822711308306633, + "ended_time_ns": 1792822711316890600, + "duration_s": 0.000223572, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822711311435296, + "ok": true, + "ended_time_ns": 1792822711311442795, + "duration_s": 7.499e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822711311444407, + "ok": true, + "ended_time_ns": 1792822711311447444, + "duration_s": 3.037e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822711311447907, + "ok": true, + "ended_time_ns": 1792822711311451203, + "duration_s": 3.296e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822711311451573, + "ok": true, + "ended_time_ns": 1792822711311644275, + "duration_s": 0.000192702 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822711311645368, + "ok": true, + "ended_time_ns": 1792822711311648868, + "duration_s": 3.5e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822711311649405, + "ok": true, + "ended_time_ns": 1792822711311652053, + "duration_s": 2.648e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822711311652386, + "ok": true, + "ended_time_ns": 1792822711311654386, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141831_00036", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141831_00036", + "--control-generation", + "36", + "--ready-token", + "88b9a5995c4d47f29c9ef65eef6c514b", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822711326535846, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/right_hand", + "timing": { + "server_start_request_time_ns": 1792822711322001183, + "subprocess_popen_time_ns": 1792822711326535846, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822711311431277, + "ended_time_ns": 1792822711311654849, + "duration_s": 0.000223572, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822711311435296, + "ok": true, + "ended_time_ns": 1792822711311442795, + "duration_s": 7.499e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822711311444407, + "ok": true, + "ended_time_ns": 1792822711311447444, + "duration_s": 3.037e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822711311447907, + "ok": true, + "ended_time_ns": 1792822711311451203, + "duration_s": 3.296e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822711311451573, + "ok": true, + "ended_time_ns": 1792822711311644275, + "duration_s": 0.000192702 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822711311645368, + "ok": true, + "ended_time_ns": 1792822711311648868, + "duration_s": 3.5e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822711311649405, + "ok": true, + "ended_time_ns": 1792822711311652053, + "duration_s": 2.648e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822711311652386, + "ok": true, + "ended_time_ns": 1792822711311654386, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 36, + "ready_token": "88b9a5995c4d47f29c9ef65eef6c514b", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3003, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 35, + "last_bootstrap_time_ns": 1792822708386502365, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822710914202368, + "capture_count": 468, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.810546875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 208, + "read_count": 919, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822710917119861, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822710919687727 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822710597860461, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 6902, + "displayed_count": 5469, + "dropped_count": 1432, + "decode_error_count": 0, + "last_receive_time_ns": 1792822710494377975, + "last_frame_time_ns": 1792822710496348142, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141818_00035", + "generation": 35, + "session_count": 35, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 35, + "last_bootstrap_time_ns": 1792822708386502365, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822710914202368, + "capture_count": 468, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.810546875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 208, + "read_count": 919, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822710917119861, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822710919687727 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822711320451747, + "ended_time_ns": 1792822711339966649 + }, + "pi_start_request_time_ns": 1792822711339975151, + "capture_start_time_ns": 1792822714775439035, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822720273336152, + "capture_stop_time_ns": 1792822721079302513, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141831_00036", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141831_00036", + "--control-generation", + "36", + "--ready-token", + "88b9a5995c4d47f29c9ef65eef6c514b", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822711326535846, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.diagnostics.json", + "capture_start_time_ns": 1792822714775439035, + "capture_stop_time_ns": 1792822721079302513, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/right_hand", + "timing": { + "server_start_request_time_ns": 1792822711322001183, + "subprocess_popen_time_ns": 1792822711326535846, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822711379213118, + "validate_start_time_ns": 1792822712311788540, + "session_dir_create_start_time_ns": 1792822711379990093, + "session_dir_create_end_time_ns": 1792822711381078583, + "as5600_init_start_time_ns": 1792822711382053371, + "as5600_init_end_time_ns": 1792822711383038306, + "as5600_zero_start_time_ns": 1792822711386805810, + "as5600_zero_end_time_ns": 1792822712192105106, + "camera_init_start_time_ns": 1792822712193512797, + "camera_init_end_time_ns": 1792822712195389243, + "camera_start_start_time_ns": 1792822712196379327, + "camera_start_end_time_ns": 1792822712197739204, + "camera_first_frame_wait_start_time_ns": 1792822712200286644, + "camera_first_frame_wait_end_time_ns": 1792822712203332302, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822712204616254, + "armed_time_ns": 1792822712310706087, + "waiting_t0_time_ns": 1792822712313188750, + "recording_start_time_ns": 1792822714779163488, + "stop_request_time_ns": 1792822720276072306, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822711311431277, + "ended_time_ns": 1792822711311654849, + "duration_s": 0.000223572, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822711311435296, + "ok": true, + "ended_time_ns": 1792822711311442795, + "duration_s": 7.499e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822711311444407, + "ok": true, + "ended_time_ns": 1792822711311447444, + "duration_s": 3.037e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822711311447907, + "ok": true, + "ended_time_ns": 1792822711311451203, + "duration_s": 3.296e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822711311451573, + "ok": true, + "ended_time_ns": 1792822711311644275, + "duration_s": 0.000192702 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822711311645368, + "ok": true, + "ended_time_ns": 1792822711311648868, + "duration_s": 3.5e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822711311649405, + "ok": true, + "ended_time_ns": 1792822711311652053, + "duration_s": 2.648e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822711311652386, + "ok": true, + "ended_time_ns": 1792822711311654386, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 36, + "ready_token": "88b9a5995c4d47f29c9ef65eef6c514b", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.ready.json", + "arm_request_id": "63b77ad238f9480ca4e61ec568da9177", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3003, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_141831_00036", + "generation": 36, + "session_count": 36, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 35, + "last_bootstrap_time_ns": 1792822708386502365, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822711360862800, + "capture_count": 486, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.810546875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 180, + "max_queue_depth": 208, + "read_count": 946, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822711367118967, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822711375713946 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822720273798660, + "ended_time_ns": 1792822720288455176, + "capture_stop_time_ns": 1792822721079302513, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141831_00036", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141831_00036", + "--control-generation", + "36", + "--ready-token", + "88b9a5995c4d47f29c9ef65eef6c514b", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822721303799947, + "ended_time_ns": 1792822721319118670, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.diagnostics.json", + "capture_start_time_ns": 1792822714775439035, + "capture_stop_time_ns": 1792822721079302513, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141831_00036/right_hand", + "timing": { + "server_start_request_time_ns": 1792822711322001183, + "subprocess_popen_time_ns": 1792822711326535846, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822711379213118, + "validate_start_time_ns": 1792822712311788540, + "session_dir_create_start_time_ns": 1792822711379990093, + "session_dir_create_end_time_ns": 1792822711381078583, + "as5600_init_start_time_ns": 1792822711382053371, + "as5600_init_end_time_ns": 1792822711383038306, + "as5600_zero_start_time_ns": 1792822711386805810, + "as5600_zero_end_time_ns": 1792822712192105106, + "camera_init_start_time_ns": 1792822712193512797, + "camera_init_end_time_ns": 1792822712195389243, + "camera_start_start_time_ns": 1792822712196379327, + "camera_start_end_time_ns": 1792822712197739204, + "camera_first_frame_wait_start_time_ns": 1792822712200286644, + "camera_first_frame_wait_end_time_ns": 1792822712203332302, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822712204616254, + "armed_time_ns": 1792822712310706087, + "waiting_t0_time_ns": 1792822712313188750, + "recording_start_time_ns": 1792822714779163488, + "stop_request_time_ns": 1792822720279535109, + "finalized_time_ns": 1792822721100994261 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822711311431277, + "ended_time_ns": 1792822711311654849, + "duration_s": 0.000223572, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822711311435296, + "ok": true, + "ended_time_ns": 1792822711311442795, + "duration_s": 7.499e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822711311444407, + "ok": true, + "ended_time_ns": 1792822711311447444, + "duration_s": 3.037e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822711311447907, + "ok": true, + "ended_time_ns": 1792822711311451203, + "duration_s": 3.296e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822711311451573, + "ok": true, + "ended_time_ns": 1792822711311644275, + "duration_s": 0.000192702 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822711311645368, + "ok": true, + "ended_time_ns": 1792822711311648868, + "duration_s": 3.5e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822711311649405, + "ok": true, + "ended_time_ns": 1792822711311652053, + "duration_s": 2.648e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822711311652386, + "ok": true, + "ended_time_ns": 1792822711311654386, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 36, + "ready_token": "88b9a5995c4d47f29c9ef65eef6c514b", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141831_00036.ready.json", + "arm_request_id": "63b77ad238f9480ca4e61ec568da9177", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3003, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141831_00036", + "generation": 36, + "session_count": 36, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 36, + "last_bootstrap_time_ns": 1792822721107612572, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822721109214502, + "capture_count": 357, + "capture_error_count": 0, + "writer_count": 253, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + 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a/stack the blocks/session_20261024_141857_00038/Metadata/ui_backend_metadata.json b/stack the blocks/session_20261024_141857_00038/Metadata/ui_backend_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..77d301e23fa5b4173bf24ef9b58788c11b66f6e1 --- /dev/null +++ b/stack the blocks/session_20261024_141857_00038/Metadata/ui_backend_metadata.json @@ -0,0 +1,3618 @@ +{ + "project": "Tele-UMI", + "role": "ui_backend_joint_capture", + "session_id": "session_20261024_141857_00038", + "created_time_ns": 1792822737440416808, + "updated_time_ns": 1792823377034346333, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_names": [ + "left_hand", + "right_hand" + ], + "device_targets": { + "left_hand": { + "hand_name": "left_hand", + "pi_host": "192.168.31.140", + "pi_port": 8765, + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "requested_tracker_serial": "LHR-26B06EF4", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + 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"tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 37, + "ready_token": "1d62659f34c541909fe3a17f14178bc6", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.ready.json", + "arm_request_id": "cc06ff53128e4219bad254bbe3f20902", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2176, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141844_00037", + "generation": 37, + "session_count": 37, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 37, + "last_bootstrap_time_ns": 1792822735300932279, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822736798482348, + "capture_count": 458, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.12524414188668, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822736815548489, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822736821626463 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822736320242525, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7615, + "displayed_count": 7418, + "dropped_count": 196, + "decode_error_count": 0, + "last_receive_time_ns": 1792822736314349493, + "last_frame_time_ns": 1792822736276820535, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141844_00037", + "generation": 37, + "session_count": 37, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 37, + "last_bootstrap_time_ns": 1792822735300932279, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822736798482348, + "capture_count": 458, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.12524414188668, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822736815548489, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822736821626463 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822737097642485, + "ended_time_ns": 1792822737110774862, + "duration_s": 0.001325742, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822737100179307, + "ended_time_ns": 1792822737100425933, + "duration_s": 0.000246626, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822737100182936, + "ok": true, + "ended_time_ns": 1792822737100191343, + "duration_s": 8.407e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822737100192306, + "ok": true, + "ended_time_ns": 1792822737100195140, + "duration_s": 2.834e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822737100195640, + "ok": true, + "ended_time_ns": 1792822737100198454, + "duration_s": 2.814e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822737100198788, + "ok": true, + "ended_time_ns": 1792822737100414896, + "duration_s": 0.000216108 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822737100415970, + "ok": true, + "ended_time_ns": 1792822737100419877, + "duration_s": 3.907e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822737100420488, + "ok": true, + "ended_time_ns": 1792822737100423137, + "duration_s": 2.649e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822737100423637, + "ok": true, + "ended_time_ns": 1792822737100425507, + "duration_s": 1.87e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822737101172552, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822736798482348, + "frame_age_s": 0.302732482, + "heartbeat_age_s": 0.279563923, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822737101220996, + "duration_s": 4.8444e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822737101223515, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 102.12524414188668, + "sample_observed_time_ns": 1792822736815548489, + "sample_age_s": 0.285686192, + "heartbeat_age_s": 0.279600663, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822737101239589, + "duration_s": 1.6074e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822737101245088, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822737101404809, + "duration_s": 0.000159721 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822737110796304, + "ended_time_ns": 1792822737207697103, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141844_00037", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141844_00037", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141844_00037", + "--control-generation", + "37", + "--ready-token", + "affb4d37b4bd4e65bc2d869487efaa34", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822737207712516, + "ended_time_ns": 1792822737219939839, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.diagnostics.json", + "capture_start_time_ns": 1792822727935699909, + "capture_stop_time_ns": 1792822734486398574, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141844_00037", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141844_00037/right_hand", + "timing": { + 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"as5600_init_start_time_ns": 1792822724555996918, + "as5600_init_end_time_ns": 1792822724557852754, + "as5600_zero_start_time_ns": 1792822724559685478, + "as5600_zero_end_time_ns": 1792822725363225827, + "camera_init_start_time_ns": 1792822725365071143, + "camera_init_end_time_ns": 1792822725369296921, + "camera_start_start_time_ns": 1792822725372015082, + "camera_start_end_time_ns": 1792822725375955510, + "camera_first_frame_wait_start_time_ns": 1792822725377698698, + "camera_first_frame_wait_end_time_ns": 1792822725379387905, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822725380918058, + "armed_time_ns": 1792822725466810812, + "waiting_t0_time_ns": 1792822725470713314, + "recording_start_time_ns": 1792822727940755609, + "stop_request_time_ns": 1792822733662666109, + "finalized_time_ns": 1792822734504052399 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822724510457750, + "ended_time_ns": 1792822724510665155, + "duration_s": 0.000207405, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822724510461546, + "ok": true, + "ended_time_ns": 1792822724510469305, + "duration_s": 7.759e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822724510471138, + "ok": true, + "ended_time_ns": 1792822724510474138, + "duration_s": 3e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822724510474564, + "ok": true, + "ended_time_ns": 1792822724510477342, + "duration_s": 2.778e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822724510477712, + "ok": true, + "ended_time_ns": 1792822724510654748, + "duration_s": 0.000177036 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822724510656155, + "ok": true, + "ended_time_ns": 1792822724510659544, + "duration_s": 3.389e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822724510660155, + "ok": true, + "ended_time_ns": 1792822724510662581, + "duration_s": 2.426e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822724510662933, + "ok": true, + "ended_time_ns": 1792822724510664692, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 37, + "ready_token": "affb4d37b4bd4e65bc2d869487efaa34", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.ready.json", + "arm_request_id": "cc06ff53128e4219bad254bbe3f20902", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3004, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141844_00037", + "generation": 37, + "session_count": 37, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 37, + "last_bootstrap_time_ns": 1792822734506380841, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822737019075978, + "capture_count": 459, + "capture_error_count": 0, + "writer_count": 254, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.23352051109447, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 209, + "read_count": 2486, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822737033781551, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822737037039374 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822736158382953, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + 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+ "capture_error_count": 0, + "writer_count": 254, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.23352051109447, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 209, + "read_count": 2486, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822737033781551, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822737037039374 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822737242329741, + "ended_time_ns": 1792822737268944461, + "duration_s": 0.001054713, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822737256808992, + "ended_time_ns": 1792822737257017805, + "duration_s": 0.000208813, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822737256812529, + "ok": true, + "ended_time_ns": 1792822737256820510, + "duration_s": 7.981e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822737256821455, + "ok": true, + "ended_time_ns": 1792822737256824380, + "duration_s": 2.925e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822737256824843, + "ok": true, + "ended_time_ns": 1792822737256828047, + "duration_s": 3.204e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822737256828417, + "ok": true, + "ended_time_ns": 1792822737257008138, + "duration_s": 0.000179721 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822737257009064, + "ok": true, + "ended_time_ns": 1792822737257012157, + "duration_s": 3.093e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822737257012749, + "ok": true, + "ended_time_ns": 1792822737257015194, + "duration_s": 2.445e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822737257015601, + "ok": true, + "ended_time_ns": 1792822737257017323, + "duration_s": 1.722e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822737257632244, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822737019075978, + "frame_age_s": 0.238585858, + "heartbeat_age_s": 0.220605592, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822737257666558, + "duration_s": 3.4314e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822737257668521, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 281.23352051109447, + "sample_observed_time_ns": 1792822737033781551, + "sample_age_s": 0.2238941, + "heartbeat_age_s": 0.220631795, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822737257679002, + "duration_s": 1.0481e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822737257683817, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822737257781539, + "duration_s": 9.7722e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822737268953699, + "ended_time_ns": 1792822737359740702, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823162958726330, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823158587626242, + "ended_time_ns": 1792823158603095050, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823158603247953, + "ended_time_ns": 1792823158700792101, + "transferred_bytes": 13676, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,676 bytes\nTotal transferred file size: 13,676 bytes\nLiteral data: 13,676 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,812\n\nsent 46 bytes received 13,812 bytes 27,716.00 bytes/sec\ntotal size is 13,676 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823158701089445, + "ended_time_ns": 1792823162956735271, + "transferred_bytes": 9821235, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 9,821,235 bytes\nTotal transferred file size: 9,821,235 bytes\nLiteral data: 9,821,235 bytes\nMatched data: 0 bytes\nFile list size: 229\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 9,824,050\n\nsent 168 bytes received 9,824,050 bytes 2,183,159.56 bytes/sec\ntotal size is 9,821,235 speedup is 1.00" + } + ], + "transferred_bytes": 9834911, + "copied_local_bytes": 10341018, + "started_time_ns": 1792823158587269713, + "ended_time_ns": 1792823162957658327 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823158587647913, + "ended_time_ns": 1792823158605206126, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823158605392063, + "ended_time_ns": 1792823158679919053, + "transferred_bytes": 13690, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,690 bytes\nTotal transferred file size: 13,690 bytes\nLiteral data: 13,690 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,826\n\nsent 46 bytes received 13,826 bytes 27,744.00 bytes/sec\ntotal size is 13,690 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823158680487501, + "ended_time_ns": 1792823159282114897, + "transferred_bytes": 9414512, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 9,414,512 bytes\nTotal transferred file size: 9,414,512 bytes\nLiteral data: 9,414,512 bytes\nMatched data: 0 bytes\nFile list size: 220\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 9,417,210\n\nsent 168 bytes received 9,417,210 bytes 6,278,252.00 bytes/sec\ntotal size is 9,414,512 speedup is 1.00" + } + ], + "transferred_bytes": 9428202, + "copied_local_bytes": 9916941, + "started_time_ns": 1792823158587421835, + "ended_time_ns": 1792823159282348452 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_141857_00038", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823377032960533, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823376651068635, + "ended_time_ns": 1792823377032563095, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823376651068635, + "ended_time_ns": 1792823376841190600, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141857_00038", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141857_00038_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141857_00038 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141857_00038_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141857_00038_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141857_00038_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141857_00038\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822741052598359\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822741052598359，vive_T0=1792822741052598359，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822748382512725，vive_Tstop=1792822748382512725，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.007526s，first=1792822741060124542，T0=1792822741052598359，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002627s，last=1792822748379886060，Tstop=1792822748382512725，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1465\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00651611393113 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00651611393113 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1465，metadata 1465\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0065162050929 Hz，最低 150.0 Hz，时长 7.319761514663696 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0065162050929 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006352901458740234s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993796929..1.0000000006019247，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.001206690815828145m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.3769328204375655deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=293 duration=7.325s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=293，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 293，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=292，rows=293，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=293，monotonic违规=0，估算频率=40.00610657595006Hz，最大间隔=0.032789818s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 293，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.00610698155335 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.00610698155335 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032789096s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 440，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 48.5604..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 440，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99999211662976 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99999211662976 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019236667s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=440，bad_rows=0，monotonic违规=0，估算频率=59.99999165740435Hz，最大间隔=0.019237853s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 293，metadata 293\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 440，metadata 440\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 293，timestamps 293，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=293，timestamps=293，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.026s，video=7.325s，timestamps=7.298885645999996s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.018s，camera=7.298885645999996s，clamp=7.316667627999997s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822741052598359，pi_T0=1792822741052598359，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822748382512725，pi_Tstop=1792822748382512725，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.018756s，first=1792822741071354105，T0=1792822741052598359，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.012950s，first=1792822741065548591，T0=1792822741052598359，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.012273s，last=1792822748370239751，Tstop=1792822748382512725，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000297s，last=1792822748382216219，Tstop=1792822748382512725，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.020876s，vive=7.319761518s，camera=7.298885645999996s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.003094s，vive=7.319761518s，clamp=7.316667627999997s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.011230s，vive_first=1792822741060124542，camera_first=1792822741071354105，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.005424s，vive_first=1792822741060124542，clamp_first=1792822741065548591，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.009646s，vive_last=1792822748379886060，camera_last=1792822748370239751，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.002330s，vive_last=1792822748379886060，clamp_last=1792822748382216219，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141857_00038_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823376841640341, + "ended_time_ns": 1792823377032563095, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141857_00038", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141857_00038_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141857_00038 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141857_00038_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141857_00038_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141857_00038_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141857_00038\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822741052598359\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822741052598359，vive_T0=1792822741052598359，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822748382512725，vive_Tstop=1792822748382512725，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.007526s，first=1792822741060124542，T0=1792822741052598359，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002627s，last=1792822748379886060，Tstop=1792822748382512725，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1465\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00651611393113 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00651611393113 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1465，metadata 1465\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0065162050929 Hz，最低 150.0 Hz，时长 7.319761514663696 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0065162050929 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006352901458740234s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993750591..1.0000000005727225，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.002959911980300934m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.28251817350540437deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=293 duration=7.325s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=293，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 293，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=292，rows=293，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=293，monotonic违规=0，估算频率=40.03662774472445Hz，最大间隔=0.032560284s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 293，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03662520308999 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03662520308999 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03255934s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 439，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 439，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000039789067486 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.000039789067486 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018002951s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=439，bad_rows=0，monotonic违规=0，估算频率=60.00003902468291Hz，最大间隔=0.018002747s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 293，metadata 293\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 439，metadata 439\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 293，timestamps 293，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=293，timestamps=293，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=7.325s，timestamps=7.293322014999998s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.007s，camera=7.293322014999998s，clamp=7.299995159s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822741052598359，pi_T0=1792822741052598359，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822748382512725，pi_Tstop=1792822748382512725，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.014339s，first=1792822741066937248，T0=1792822741052598359，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.014522s，first=1792822741067120302，T0=1792822741052598359，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.022253s，last=1792822748360259263，Tstop=1792822748382512725，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.015397s，last=1792822748367115461，Tstop=1792822748382512725，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.026440s，vive=7.319761518s，camera=7.293322014999998s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.019766s，vive=7.319761518s，clamp=7.299995159s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.006813s，vive_first=1792822741060124542，camera_first=1792822741066937248，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.006996s，vive_first=1792822741060124542，clamp_first=1792822741067120302，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.019627s，vive_last=1792822748379886060，camera_last=1792822748360259263，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.012771s，vive_last=1792822748379886060，clamp_last=1792822748367115461，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141857_00038_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141857_00038_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141857_00038\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822741052598359\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822741052598359，vive_T0=1792822741052598359，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822748382512725，vive_Tstop=1792822748382512725，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.007526s，first=1792822741060124542，T0=1792822741052598359，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002627s，last=1792822748379886060，Tstop=1792822748382512725，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1465\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00651611393113 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00651611393113 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1465，metadata 1465\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0065162050929 Hz，最低 150.0 Hz，时长 7.319761514663696 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0065162050929 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006352901458740234s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993796929..1.0000000006019247，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.001206690815828145m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.3769328204375655deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=293 duration=7.325s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=293，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 293，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=292，rows=293，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=293，monotonic违规=0，估算频率=40.00610657595006Hz，最大间隔=0.032789818s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 293，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.00610698155335 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.00610698155335 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032789096s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 440，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 48.5604..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 440，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99999211662976 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99999211662976 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019236667s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=440，bad_rows=0，monotonic违规=0，估算频率=59.99999165740435Hz，最大间隔=0.019237853s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 293，metadata 293\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 440，metadata 440\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 293，timestamps 293，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=293，timestamps=293，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.026s，video=7.325s，timestamps=7.298885645999996s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.018s，camera=7.298885645999996s，clamp=7.316667627999997s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822741052598359，pi_T0=1792822741052598359，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822748382512725，pi_Tstop=1792822748382512725，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.018756s，first=1792822741071354105，T0=1792822741052598359，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.012950s，first=1792822741065548591，T0=1792822741052598359，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.012273s，last=1792822748370239751，Tstop=1792822748382512725，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000297s，last=1792822748382216219，Tstop=1792822748382512725，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.020876s，vive=7.319761518s，camera=7.298885645999996s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.003094s，vive=7.319761518s，clamp=7.316667627999997s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.011230s，vive_first=1792822741060124542，camera_first=1792822741071354105，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.005424s，vive_first=1792822741060124542，clamp_first=1792822741065548591，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.009646s，vive_last=1792822748379886060，camera_last=1792822748370239751，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.002330s，vive_last=1792822748379886060，clamp_last=1792822748382216219，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141857_00038_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141857_00038\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822741052598359\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822741052598359，vive_T0=1792822741052598359，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822748382512725，vive_Tstop=1792822748382512725，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.007526s，first=1792822741060124542，T0=1792822741052598359，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002627s，last=1792822748379886060，Tstop=1792822748382512725，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1465\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00651611393113 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00651611393113 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1465，metadata 1465\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0065162050929 Hz，最低 150.0 Hz，时长 7.319761514663696 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0065162050929 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006352901458740234s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993750591..1.0000000005727225，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.002959911980300934m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.28251817350540437deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=293 duration=7.325s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=293，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 293，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=292，rows=293，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=293，monotonic违规=0，估算频率=40.03662774472445Hz，最大间隔=0.032560284s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 293，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03662520308999 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03662520308999 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03255934s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 439，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 439，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000039789067486 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.000039789067486 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018002951s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=439，bad_rows=0，monotonic违规=0，估算频率=60.00003902468291Hz，最大间隔=0.018002747s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 293，metadata 293\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 439，metadata 439\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 293，timestamps 293，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=293，timestamps=293，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=7.325s，timestamps=7.293322014999998s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.007s，camera=7.293322014999998s，clamp=7.299995159s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822741052598359，pi_T0=1792822741052598359，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822748382512725，pi_Tstop=1792822748382512725，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.014339s，first=1792822741066937248，T0=1792822741052598359，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.014522s，first=1792822741067120302，T0=1792822741052598359，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.022253s，last=1792822748360259263，Tstop=1792822748382512725，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.015397s，last=1792822748367115461，Tstop=1792822748382512725，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.026440s，vive=7.319761518s，camera=7.293322014999998s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.019766s，vive=7.319761518s，clamp=7.299995159s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.006813s，vive_first=1792822741060124542，camera_first=1792822741066937248，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.006996s，vive_first=1792822741060124542，clamp_first=1792822741067120302，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.019627s，vive_last=1792822748379886060，camera_last=1792822748360259263，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.012771s，vive_last=1792822748379886060，clamp_last=1792822748367115461，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141857_00038_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141857_00038/control/stop_left_hand.flag b/stack the blocks/session_20261024_141857_00038/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..7cf511e55321d185b4628c65bd65e195218ffd17 --- /dev/null +++ b/stack the blocks/session_20261024_141857_00038/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822748382512725 \ No newline at end of file diff --git a/stack the blocks/session_20261024_141857_00038/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the 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blocks/session_20261024_141857_00038/left_hand/RGB_Images/timestamps.csv", + "clamp_data_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Clamp_Data/clamp_data_tum.txt", + "metadata_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Metadata/metadata.json", + "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Clamp_Data/clamp_timebase.csv" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/TeleUMI", + "pi_data_root": "/home/zhang/TeleUMI/datasets" + }, + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "pi_standby": { + "enabled": true, 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"hand_name": "left_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822741052598359, + "capture_stop_time_ns": 1792822748382512725, + "effective_capture_stop_time_ns": 1792822748382512725, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_141857_00038", + "control_generation": 38, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + 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"camera_stopped_time_ns": 1792822748392169734, + "camera_actual_fps": 29.39216753571127, + "camera_first_frame_time_ns": 1792822741071354105, + "camera_last_frame_time_ns": 1792822748370239751, + "camera_frame_timestamp_fps": 40.00610698155334, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822748391253376, + "capture_count": 400, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 440, + "clamp_first_sample_time_ns": 1792822741065548591, + "clamp_last_sample_time_ns": 1792822748382216219, + "clamp_actual_hz": 59.999992116629734, + "clamp_value_min": 48.56044310017252, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 207, + "read_count": 834, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1774 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141857_00038/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141857_00038/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..197d3f5c075ad368b9ec9aedc721c052b809e19b --- /dev/null +++ b/stack the blocks/session_20261024_141857_00038/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822737482580081, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_141857_00038", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141844_00037", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141844_00037", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141844_00037", + "--control-generation", + "37", + "--ready-token", + "1d62659f34c541909fe3a17f14178bc6", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822737483149435, + "ended_time_ns": 1792822737505369573, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.diagnostics.json", + "capture_start_time_ns": 1792822727935699909, + "capture_stop_time_ns": 1792822734486398574, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141844_00037", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141844_00037/left_hand", + "timing": { + "server_start_request_time_ns": 1792822724509699872, + "subprocess_popen_time_ns": 1792822724514706842, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822724543327457, + "validate_start_time_ns": 1792822725459969510, + "session_dir_create_start_time_ns": 1792822724550157476, + "session_dir_create_end_time_ns": 1792822724551167166, + "as5600_init_start_time_ns": 1792822724552272411, + "as5600_init_end_time_ns": 1792822724553104825, + "as5600_zero_start_time_ns": 1792822724554930579, + "as5600_zero_end_time_ns": 1792822725359388864, + "camera_init_start_time_ns": 1792822725360833140, + "camera_init_end_time_ns": 1792822725362676023, + "camera_start_start_time_ns": 1792822725365821684, + "camera_start_end_time_ns": 1792822725367201203, + "camera_first_frame_wait_start_time_ns": 1792822725368510111, + "camera_first_frame_wait_end_time_ns": 1792822725369769724, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822725370918838, + "armed_time_ns": 1792822725458988745, + "waiting_t0_time_ns": 1792822725461740968, + "recording_start_time_ns": 1792822727936906825, + "stop_request_time_ns": 1792822733509022931, + "finalized_time_ns": 1792822734490401113 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822737100081400, + "ended_time_ns": 1792822737101407142, + "duration_s": 0.001325742, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822737100179307, + "ended_time_ns": 1792822737100425933, + "duration_s": 0.000246626, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822737100182936, + "ok": true, + "ended_time_ns": 1792822737100191343, + "duration_s": 8.407e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822737100192306, + "ok": true, + "ended_time_ns": 1792822737100195140, + "duration_s": 2.834e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822737100195640, + "ok": true, + "ended_time_ns": 1792822737100198454, + "duration_s": 2.814e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822737100198788, + "ok": true, + "ended_time_ns": 1792822737100414896, + "duration_s": 0.000216108 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822737100415970, + "ok": true, + "ended_time_ns": 1792822737100419877, + "duration_s": 3.907e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822737100420488, + "ok": true, + "ended_time_ns": 1792822737100423137, + "duration_s": 2.649e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822737100423637, + "ok": true, + "ended_time_ns": 1792822737100425507, + "duration_s": 1.87e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822737101172552, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822736798482348, + "frame_age_s": 0.302732482, + "heartbeat_age_s": 0.279563923, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822737101220996, + "duration_s": 4.8444e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822737101223515, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 102.12524414188668, + "sample_observed_time_ns": 1792822736815548489, + "sample_age_s": 0.285686192, + "heartbeat_age_s": 0.279600663, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822737101239589, + "duration_s": 1.6074e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822737101240626, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822737101243922, + "duration_s": 3.296e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822737101245088, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822737101404809, + "duration_s": 0.000159721 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 37, + "ready_token": "1d62659f34c541909fe3a17f14178bc6", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.ready.json", + "arm_request_id": "cc06ff53128e4219bad254bbe3f20902", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2176, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141844_00037", + "generation": 37, + "session_count": 37, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 37, + "last_bootstrap_time_ns": 1792822735300932279, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822737323447783, + "capture_count": 479, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.12524414188668, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822737315548204, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822737329402296 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822737433260972, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7624, + "displayed_count": 7427, + "dropped_count": 196, + "decode_error_count": 0, + "last_receive_time_ns": 1792822737353458620, + "last_frame_time_ns": 1792822737324615471, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141844_00037", + "generation": 37, + "session_count": 37, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 37, + "last_bootstrap_time_ns": 1792822735300932279, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822737323447783, + "capture_count": 479, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.12524414188668, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822737315548204, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822737329402296 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update 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Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": 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--. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 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: 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 38, + "ready_token": "efbe19e95dde46abae842b0098d615e3", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2177, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141844_00037", + "generation": 37, + "session_count": 37, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 37, + "last_bootstrap_time_ns": 1792822735300932279, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822737323447783, + "capture_count": 479, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.12524414188668, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822737315548204, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822737329402296 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822737433260972, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7624, + "displayed_count": 7427, + "dropped_count": 196, + "decode_error_count": 0, + "last_receive_time_ns": 1792822737353458620, + "last_frame_time_ns": 1792822737324615471, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141844_00037", + "generation": 37, + "session_count": 37, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 37, + "last_bootstrap_time_ns": 1792822735300932279, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822737323447783, + "capture_count": 479, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.12524414188668, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822737315548204, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822737329402296 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822737521336301, + "ended_time_ns": 1792822737565051369 + }, + "pi_start_request_time_ns": 1792822737565058895, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822737568672814, + "capture_start_time_ns": 1792822741052598359, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822747426837393, + "capture_stop_time_ns": 1792822748382512725, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141857_00038", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141857_00038", + "--control-generation", + "38", + "--ready-token", + "efbe19e95dde46abae842b0098d615e3", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822737545869272, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.diagnostics.json", + "capture_start_time_ns": 1792822741052598359, + "capture_stop_time_ns": 1792822748382512725, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/left_hand", + "timing": { + "server_start_request_time_ns": 1792822737521895298, + "subprocess_popen_time_ns": 1792822737545869272, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822737591873727, + "validate_start_time_ns": 1792822738564210530, + "session_dir_create_start_time_ns": 1792822737592903491, + "session_dir_create_end_time_ns": 1792822737605897390, + "as5600_init_start_time_ns": 1792822737607053541, + "as5600_init_end_time_ns": 1792822737607931011, + "as5600_zero_start_time_ns": 1792822737609606618, + "as5600_zero_end_time_ns": 1792822738418627564, + "camera_init_start_time_ns": 1792822738420950754, + "camera_init_end_time_ns": 1792822738423538294, + "camera_start_start_time_ns": 1792822738424771610, + "camera_start_end_time_ns": 1792822738427187967, + "camera_first_frame_wait_start_time_ns": 1792822738428519542, + "camera_first_frame_wait_end_time_ns": 1792822738430545070, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822738434839401, + "armed_time_ns": 1792822738562451869, + "waiting_t0_time_ns": 1792822738568539861, + "recording_start_time_ns": 1792822741055871517, + "stop_request_time_ns": 1792822747425807516, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822737507694600, + "ended_time_ns": 1792822737507909690, + "duration_s": 0.00021509, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822737507698674, + "ok": true, + "ended_time_ns": 1792822737507706748, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822737507708507, + "ok": true, + "ended_time_ns": 1792822737507710970, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822737507711415, + "ok": true, + "ended_time_ns": 1792822737507714118, + "duration_s": 2.703e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822737507714507, + "ok": true, + "ended_time_ns": 1792822737507898431, + "duration_s": 0.000183924 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822737507899709, + "ok": true, + "ended_time_ns": 1792822737507903153, + "duration_s": 3.444e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822737507903764, + "ok": true, + "ended_time_ns": 1792822737507906671, + "duration_s": 2.907e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822737507907153, + "ok": true, + "ended_time_ns": 1792822737507909245, + "duration_s": 2.092e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 38, + "ready_token": "efbe19e95dde46abae842b0098d615e3", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "arm_request_id": "67501fb9d0ac4a91b974343a23919e91", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2177, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 37, + "last_bootstrap_time_ns": 1792822735300932279, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822737574033041, + "capture_count": 489, + "capture_error_count": 0, + "writer_count": 262, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.12524414188668, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 186, + "max_queue_depth": 186, + "read_count": 186, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822737583446359, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822737587017885 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822747427384340, + "ended_time_ns": 1792822747440599485, + "capture_stop_time_ns": 1792822748382512725, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_141857_00038", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 159642 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 159685 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141689 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 159622 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 159685 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129709 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141857_00038", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141857_00038", + "--control-generation", + "38", + "--ready-token", + "efbe19e95dde46abae842b0098d615e3", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822749413112578, + "ended_time_ns": 1792822749425864104, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.diagnostics.json", + "capture_start_time_ns": 1792822741052598359, + "capture_stop_time_ns": 1792822748382512725, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/left_hand", + "timing": { + "server_start_request_time_ns": 1792822737521895298, + "subprocess_popen_time_ns": 1792822737545869272, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822737591873727, + "validate_start_time_ns": 1792822738564210530, + "session_dir_create_start_time_ns": 1792822737592903491, + "session_dir_create_end_time_ns": 1792822737605897390, + "as5600_init_start_time_ns": 1792822737607053541, + "as5600_init_end_time_ns": 1792822737607931011, + "as5600_zero_start_time_ns": 1792822737609606618, + "as5600_zero_end_time_ns": 1792822738418627564, + "camera_init_start_time_ns": 1792822738420950754, + "camera_init_end_time_ns": 1792822738423538294, + "camera_start_start_time_ns": 1792822738424771610, + "camera_start_end_time_ns": 1792822738427187967, + "camera_first_frame_wait_start_time_ns": 1792822738428519542, + "camera_first_frame_wait_end_time_ns": 1792822738430545070, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822738434839401, + "armed_time_ns": 1792822738562451869, + "waiting_t0_time_ns": 1792822738568539861, + "recording_start_time_ns": 1792822741055871517, + "stop_request_time_ns": 1792822747427906377, + "finalized_time_ns": 1792822748393589789 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822737507694600, + "ended_time_ns": 1792822737507909690, + "duration_s": 0.00021509, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822737507698674, + "ok": true, + "ended_time_ns": 1792822737507706748, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822737507708507, + "ok": true, + "ended_time_ns": 1792822737507710970, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822737507711415, + "ok": true, + "ended_time_ns": 1792822737507714118, + "duration_s": 2.703e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822737507714507, + "ok": true, + "ended_time_ns": 1792822737507898431, + "duration_s": 0.000183924 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822737507899709, + "ok": true, + "ended_time_ns": 1792822737507903153, + "duration_s": 3.444e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822737507903764, + "ok": true, + "ended_time_ns": 1792822737507906671, + "duration_s": 2.907e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822737507907153, + "ok": true, + "ended_time_ns": 1792822737507909245, + "duration_s": 2.092e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 38, + "ready_token": "efbe19e95dde46abae842b0098d615e3", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "arm_request_id": "67501fb9d0ac4a91b974343a23919e91", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2177, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 38, + "last_bootstrap_time_ns": 1792822749203384835, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822749190451102, + "capture_count": 432, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.95312499999999, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822749201446361, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822749209527512 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822749097815478, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7724, + "displayed_count": 7521, + "dropped_count": 202, + "decode_error_count": 0, + "last_receive_time_ns": 1792822749048234164, + "last_frame_time_ns": 1792822749054448525, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 38, + "last_bootstrap_time_ns": 1792822749203384835, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + 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0000000000000000000000000000000000000000..dd0797ec85311bd228347c10bedc8b085aa7a545 --- /dev/null +++ b/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/metadata.json @@ -0,0 +1,343 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "raspberry_pi_capture", + "created_time_ns": 1792822748541443725, + "platform": { + "system": "Linux", + "release": "6.12.75+rpt-rpi-2712", + "machine": "aarch64" + }, + "paths": { + "run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand", + "rgb_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand/RGB_Images", + "clamp_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Clamp_Data", + "metadata_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Metadata", + "video_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand/RGB_Images/video.mp4", + "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand/RGB_Images/timestamps.csv", + "clamp_data_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Clamp_Data/clamp_data_tum.txt", + "metadata_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/metadata.json", + "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Clamp_Data/clamp_timebase.csv" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.6", + "left_pi_host": "192.168.157.6", + "right_pi_host": "192.168.157.66", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/TeleUMI", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + 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1792822748540285568 + }, + "last_error": null, + "capture_start_time_ns": 1792822741052598359, + "capture_stop_time_ns": 1792822748382512725 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "right_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822741052598359, + "capture_stop_time_ns": 1792822748382512725, + "effective_capture_stop_time_ns": 1792822748382512725, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_141857_00038", + "control_generation": 38, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822741052598359, + "capture_stop_time_ns": 1792822748382512725 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 281.42578125, + "reference_source": "max_open_init", + "zero_angle_deg": 281.42578125, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.63e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822741057397314, + "camera_frame_count": 293, + "camera_started_time_ns": 1792822738472337044, + "camera_stopped_time_ns": 1792822748442186589, + "camera_actual_fps": 29.388607990272334, + "camera_first_frame_time_ns": 1792822741066937248, + "camera_last_frame_time_ns": 1792822748360259263, + "camera_frame_timestamp_fps": 40.036625203089976, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822748536525435, + "capture_count": 403, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 439, + "clamp_first_sample_time_ns": 1792822741067120302, + "clamp_last_sample_time_ns": 1792822748367115461, + "clamp_actual_hz": 60.000039789067486, + "clamp_value_min": 100.0, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 9, + "max_queue_depth": 209, + "read_count": 3176, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1748 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..37d9b7367a2cbfa1a8a194595607f03919b3be66 --- /dev/null +++ b/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822737473476505, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_141857_00038", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + 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"192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141844_00037", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141844_00037", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141844_00037", + "--control-generation", + "37", + "--ready-token", + "affb4d37b4bd4e65bc2d869487efaa34", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 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1792822725369296921, + "camera_start_start_time_ns": 1792822725372015082, + "camera_start_end_time_ns": 1792822725375955510, + "camera_first_frame_wait_start_time_ns": 1792822725377698698, + "camera_first_frame_wait_end_time_ns": 1792822725379387905, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822725380918058, + "armed_time_ns": 1792822725466810812, + "waiting_t0_time_ns": 1792822725470713314, + "recording_start_time_ns": 1792822727940755609, + "stop_request_time_ns": 1792822733662666109, + "finalized_time_ns": 1792822734504052399 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822737256728270, + "ended_time_ns": 1792822737257782983, + "duration_s": 0.001054713, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822737256808992, + "ended_time_ns": 1792822737257017805, + "duration_s": 0.000208813, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822737256812529, + "ok": true, + "ended_time_ns": 1792822737256820510, + "duration_s": 7.981e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822737256821455, + "ok": true, + "ended_time_ns": 1792822737256824380, + "duration_s": 2.925e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822737256824843, + "ok": true, + "ended_time_ns": 1792822737256828047, + "duration_s": 3.204e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822737256828417, + "ok": true, + "ended_time_ns": 1792822737257008138, + "duration_s": 0.000179721 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822737257009064, + "ok": true, + "ended_time_ns": 1792822737257012157, + "duration_s": 3.093e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822737257012749, + "ok": true, + "ended_time_ns": 1792822737257015194, + "duration_s": 2.445e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822737257015601, + "ok": true, + "ended_time_ns": 1792822737257017323, + "duration_s": 1.722e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822737257632244, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822737019075978, + "frame_age_s": 0.238585858, + "heartbeat_age_s": 0.220605592, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822737257666558, + "duration_s": 3.4314e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822737257668521, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 281.23352051109447, + "sample_observed_time_ns": 1792822737033781551, + "sample_age_s": 0.2238941, + "heartbeat_age_s": 0.220631795, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822737257679002, + "duration_s": 1.0481e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822737257679984, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822737257682725, + "duration_s": 2.741e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822737257683817, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822737257781539, + "duration_s": 9.7722e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 37, + "ready_token": "affb4d37b4bd4e65bc2d869487efaa34", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141844_00037.ready.json", + "arm_request_id": "cc06ff53128e4219bad254bbe3f20902", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3004, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141844_00037", + "generation": 37, + "session_count": 37, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 37, + "last_bootstrap_time_ns": 1792822734506380841, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822737019075978, + "capture_count": 459, + "capture_error_count": 0, + "writer_count": 254, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.23352051109447, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 209, + "read_count": 2486, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822737033781551, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822737037039374 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822737275690027, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7130, + "displayed_count": 5629, + "dropped_count": 1499, + "decode_error_count": 0, + "last_receive_time_ns": 1792822737224622334, + "last_frame_time_ns": 1792822737137740922, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141844_00037", + "generation": 37, + "session_count": 37, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 37, + "last_bootstrap_time_ns": 1792822734506380841, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822737019075978, + "capture_count": 459, + "capture_error_count": 0, + "writer_count": 254, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.23352051109447, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 209, + "read_count": 2486, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822737033781551, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822737037039374 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822737492291775, + "ended_time_ns": 1792822737504876364, + "duration_s": 0.000201406, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822737497915383, + "ok": true, + "ended_time_ns": 1792822737497923198, + "duration_s": 7.815e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822737497924901, + "ok": true, + "ended_time_ns": 1792822737497928327, + "duration_s": 3.426e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822737497928790, + "ok": true, + "ended_time_ns": 1792822737497931938, + "duration_s": 3.148e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822737497932290, + "ok": true, + "ended_time_ns": 1792822737498103400, + "duration_s": 0.00017111 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822737498104492, + "ok": true, + "ended_time_ns": 1792822737498107622, + "duration_s": 3.13e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822737498108196, + "ok": true, + "ended_time_ns": 1792822737498110714, + "duration_s": 2.518e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822737498111085, + "ok": true, + "ended_time_ns": 1792822737498112789, + "duration_s": 1.704e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141857_00038", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141857_00038", + "--control-generation", + "38", + "--ready-token", + "172e99913834421490bab6c35b26a7c4", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822737578693868, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand", + "timing": { + "server_start_request_time_ns": 1792822737510591437, + "subprocess_popen_time_ns": 1792822737578693868, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822737497911883, + "ended_time_ns": 1792822737498113289, + "duration_s": 0.000201406, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822737497915383, + "ok": true, + "ended_time_ns": 1792822737497923198, + "duration_s": 7.815e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822737497924901, + "ok": true, + "ended_time_ns": 1792822737497928327, + "duration_s": 3.426e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822737497928790, + "ok": true, + "ended_time_ns": 1792822737497931938, + "duration_s": 3.148e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822737497932290, + "ok": true, + "ended_time_ns": 1792822737498103400, + "duration_s": 0.00017111 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822737498104492, + "ok": true, + "ended_time_ns": 1792822737498107622, + "duration_s": 3.13e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822737498108196, + "ok": true, + "ended_time_ns": 1792822737498110714, + "duration_s": 2.518e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822737498111085, + "ok": true, + "ended_time_ns": 1792822737498112789, + "duration_s": 1.704e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 38, + "ready_token": "172e99913834421490bab6c35b26a7c4", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3005, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141844_00037", + "generation": 37, + "session_count": 37, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 37, + "last_bootstrap_time_ns": 1792822734506380841, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822737542080156, + "capture_count": 480, + "capture_error_count": 0, + "writer_count": 254, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.23352051109447, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + 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"started_time_ns": 1792822737497911883, + "ended_time_ns": 1792822737498113289, + "duration_s": 0.000201406, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822737497915383, + "ok": true, + "ended_time_ns": 1792822737497923198, + "duration_s": 7.815e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822737497924901, + "ok": true, + "ended_time_ns": 1792822737497928327, + "duration_s": 3.426e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822737497928790, + "ok": true, + "ended_time_ns": 1792822737497931938, + "duration_s": 3.148e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822737497932290, + "ok": true, + "ended_time_ns": 1792822737498103400, + "duration_s": 0.00017111 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 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freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + 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"expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 38, + "ready_token": "172e99913834421490bab6c35b26a7c4", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "arm_request_id": "67501fb9d0ac4a91b974343a23919e91", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3005, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 37, + "last_bootstrap_time_ns": 1792822734506380841, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822737619053157, + "capture_count": 483, + "capture_error_count": 0, + "writer_count": 254, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.23352051109447, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 188, + "max_queue_depth": 209, + "read_count": 2521, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822737617133266, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822737630979643 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822747393851562, + "ended_time_ns": 1792822747407648275, + "capture_stop_time_ns": 1792822748382512725, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141857_00038", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141857_00038", + "--control-generation", + "38", + "--ready-token", + "172e99913834421490bab6c35b26a7c4", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822749443093528, + "ended_time_ns": 1792822749454037102, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.diagnostics.json", + "capture_start_time_ns": 1792822741052598359, + "capture_stop_time_ns": 1792822748382512725, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/right_hand", + "timing": { + "server_start_request_time_ns": 1792822737510591437, + "subprocess_popen_time_ns": 1792822737578693868, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822737635759582, + "validate_start_time_ns": 1792822738648366236, + "session_dir_create_start_time_ns": 1792822737636477205, + "session_dir_create_end_time_ns": 1792822737637401271, + "as5600_init_start_time_ns": 1792822737638509206, + "as5600_init_end_time_ns": 1792822737639344272, + "as5600_zero_start_time_ns": 1792822737641045109, + "as5600_zero_end_time_ns": 1792822738446657458, + "camera_init_start_time_ns": 1792822738470034009, + "camera_init_end_time_ns": 1792822738472342173, + "camera_start_start_time_ns": 1792822738473409405, + "camera_start_end_time_ns": 1792822738475047038, + "camera_first_frame_wait_start_time_ns": 1792822738476725060, + "camera_first_frame_wait_end_time_ns": 1792822738478117178, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822738479298019, + "armed_time_ns": 1792822738647265635, + "waiting_t0_time_ns": 1792822738652465904, + "recording_start_time_ns": 1792822741057405685, + "stop_request_time_ns": 1792822747396786894, + "finalized_time_ns": 1792822748540285568 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822737497911883, + "ended_time_ns": 1792822737498113289, + "duration_s": 0.000201406, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822737497915383, + "ok": true, + "ended_time_ns": 1792822737497923198, + "duration_s": 7.815e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822737497924901, + "ok": true, + "ended_time_ns": 1792822737497928327, + "duration_s": 3.426e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822737497928790, + "ok": true, + "ended_time_ns": 1792822737497931938, + "duration_s": 3.148e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822737497932290, + "ok": true, + "ended_time_ns": 1792822737498103400, + "duration_s": 0.00017111 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822737498104492, + "ok": true, + "ended_time_ns": 1792822737498107622, + "duration_s": 3.13e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822737498108196, + "ok": true, + "ended_time_ns": 1792822737498110714, + "duration_s": 2.518e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822737498111085, + "ok": true, + "ended_time_ns": 1792822737498112789, + "duration_s": 1.704e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 38, + "ready_token": "172e99913834421490bab6c35b26a7c4", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", 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0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 38, + "last_bootstrap_time_ns": 1792822748542154403, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822749037114295, + "capture_count": 423, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + 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"http://192.168.31.244:8765/status", + "http_status": 200, + "status_poll_attempts": 3 + }, + "final_ok": true + }, + "updated_time_ns": 1792822749457032071 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..bf8475ec4c3b4b1c065697ef0151415869bf56af --- /dev/null +++ b/stack the blocks/session_20261024_141857_00038/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822737571412084, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141857_00038/right_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": 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"tactile_init_end_time_ns": null, + "ready_time_ns": 1792822738434839401, + "armed_time_ns": 1792822738562451869, + "waiting_t0_time_ns": 1792822738568539861, + "recording_start_time_ns": 1792822741055871517, + "stop_request_time_ns": 1792822747427906377, + "finalized_time_ns": 1792822748393589789 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822737507694600, + "ended_time_ns": 1792822737507909690, + "duration_s": 0.00021509, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822737507698674, + "ok": true, + "ended_time_ns": 1792822737507706748, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822737507708507, + "ok": true, + "ended_time_ns": 1792822737507710970, + "duration_s": 2.463e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822737507711415, + "ok": true, + "ended_time_ns": 1792822737507714118, + "duration_s": 2.703e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822737507714507, + "ok": true, + "ended_time_ns": 1792822737507898431, + "duration_s": 0.000183924 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822737507899709, + "ok": true, + "ended_time_ns": 1792822737507903153, + "duration_s": 3.444e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822737507903764, + "ok": true, + "ended_time_ns": 1792822737507906671, + "duration_s": 2.907e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822737507907153, + "ok": true, + "ended_time_ns": 1792822737507909245, + "duration_s": 2.092e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 38, + "ready_token": "efbe19e95dde46abae842b0098d615e3", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "arm_request_id": "67501fb9d0ac4a91b974343a23919e91", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2177, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 38, + "last_bootstrap_time_ns": 1792822749203384835, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822750214950537, + "capture_count": 473, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.95312499999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 110, + "max_queue_depth": 110, + "read_count": 110, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822750218113642, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822750222716914 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822750135160944, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7733, + "displayed_count": 7530, + "dropped_count": 202, + "decode_error_count": 0, + "last_receive_time_ns": 1792822750073430034, + "last_frame_time_ns": 1792822750068287011, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 38, + "last_bootstrap_time_ns": 1792822749203384835, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822750214950537, + "capture_count": 473, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.95312499999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 110, + "max_queue_depth": 110, + "read_count": 110, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822750218113642, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822750222716914 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": 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"persistent_pi_worker_runtime", + "ended_time_ns": 1792822750759086196, + "duration_s": 1.0463e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822750759090455, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822750759182991, + "duration_s": 9.2536e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822750768215530, + "ended_time_ns": 1792822750861345007, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", 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"expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 38, + "ready_token": "172e99913834421490bab6c35b26a7c4", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "arm_request_id": "67501fb9d0ac4a91b974343a23919e91", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3005, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 38, + "last_bootstrap_time_ns": 1792822748542154403, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822750558721437, + "capture_count": 484, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.42578125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 131, + "max_queue_depth": 209, + "read_count": 3298, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822750567112900, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822750570476240 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822749999380675, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7243, + "displayed_count": 5703, + "dropped_count": 1538, + "decode_error_count": 0, + "last_receive_time_ns": 1792822749990520420, + "last_frame_time_ns": 1792822749909057682, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 38, + "last_bootstrap_time_ns": 1792822748542154403, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822750558721437, + "capture_count": 484, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.42578125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 131, + "max_queue_depth": 209, + "read_count": 3298, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822750567112900, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822750570476240 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822750901473777, + "ended_time_ns": 1792822750909472272, + "duration_s": 0.000991417, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822750902556748, + "ended_time_ns": 1792822750902754246, + "duration_s": 0.000197498, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822750902559766, + "ok": true, + "ended_time_ns": 1792822750902567081, + "duration_s": 7.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822750902567988, + "ok": true, + "ended_time_ns": 1792822750902570970, + "duration_s": 2.982e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822750902571433, + "ok": true, + "ended_time_ns": 1792822750902574414, + "duration_s": 2.981e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822750902574803, + "ok": true, + "ended_time_ns": 1792822750902743709, + "duration_s": 0.000168906 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822750902744672, + "ok": true, + "ended_time_ns": 1792822750902747987, + "duration_s": 3.315e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822750902748542, + "ok": true, + "ended_time_ns": 1792822750902751394, + "duration_s": 2.852e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822750902751727, + "ok": true, + "ended_time_ns": 1792822750902753727, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822750903337315, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822750558721437, + "frame_age_s": 0.344640729, + "heartbeat_age_s": 0.332871482, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822750903366518, + "duration_s": 2.9203e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822750903368240, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 281.42578125, + "sample_observed_time_ns": 1792822750567112900, + "sample_age_s": 0.336261766, + "heartbeat_age_s": 0.332894574, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822750903377203, + "duration_s": 8.963e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822750903381592, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822750903474128, + "duration_s": 9.2536e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822750909484605, + "ended_time_ns": 1792822751002636860, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823158576914985, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823150834160834, + "ended_time_ns": 1792823150850261366, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823150850426335, + "ended_time_ns": 1792823150897560843, + "transferred_bytes": 13660, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,660 bytes\nTotal transferred file size: 13,660 bytes\nLiteral data: 13,660 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,795\n\nsent 46 bytes received 13,795 bytes 27,682.00 bytes/sec\ntotal size is 13,660 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823150897958374, + "ended_time_ns": 1792823158575348991, + "transferred_bytes": 6590123, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 6,590,123 bytes\nTotal transferred file size: 6,590,123 bytes\nLiteral data: 6,590,123 bytes\nMatched data: 0 bytes\nFile list size: 230\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 6,592,155\n\nsent 168 bytes received 6,592,155 bytes 775,567.41 bytes/sec\ntotal size is 6,590,123 speedup is 1.00" + } + ], + "transferred_bytes": 6603783, + "copied_local_bytes": 7038907, + "started_time_ns": 1792823150833251164, + "ended_time_ns": 1792823158575941690 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823150834260662, + "ended_time_ns": 1792823150856563620, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823150856731307, + "ended_time_ns": 1792823150906124923, + "transferred_bytes": 13703, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,703 bytes\nTotal transferred file size: 13,703 bytes\nLiteral data: 13,703 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,838\n\nsent 46 bytes received 13,838 bytes 27,768.00 bytes/sec\ntotal size is 13,703 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823150906326227, + "ended_time_ns": 1792823151468909846, + "transferred_bytes": 7597962, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 7,597,962 bytes\nTotal transferred file size: 7,597,962 bytes\nLiteral data: 7,597,962 bytes\nMatched data: 0 bytes\nFile list size: 216\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 7,600,216\n\nsent 168 bytes received 7,600,216 bytes 5,066,922.67 bytes/sec\ntotal size is 7,597,962 speedup is 1.00" + } + ], + "transferred_bytes": 7611665, + "copied_local_bytes": 8031226, + "started_time_ns": 1792823150833578028, + "ended_time_ns": 1792823151469669359 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_141911_00039", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823376885159630, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823376529977520, + "ended_time_ns": 1792823376884860266, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823376529977520, + "ended_time_ns": 1792823376704932906, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141911_00039", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141911_00039_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141911_00039 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141911_00039_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141911_00039_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141911_00039_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141911_00039\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822754670853292\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822754670853292，vive_T0=1792822754670853292，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822760382461673，vive_Tstop=1792822760382461673，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005891s，first=1792822754676743874，T0=1792822754670853292，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000858s，last=1792822760381603188，Tstop=1792822760382461673，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1142\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.0049321461672 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.0049321461672 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1142，metadata 1142\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00493415347447 Hz，最低 150.0 Hz，时长 5.704859256744385 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00493415347447 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005482912063598633s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994432385..1.0000000005542689，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.00160715785337502m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.3717289066813616deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=228 duration=5.7s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=228，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 228，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=227，rows=228，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=228，monotonic违规=0，估算频率=40.030146368175785Hz，最大间隔=0.03590572s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 228，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.03014414456366 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03014414456366 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03590611s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 342，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 342，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00048466667158 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00048466667158 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020009972s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=342，bad_rows=0，monotonic违规=0，估算频率=60.00048095048275Hz，最大间隔=0.020010083s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 228，metadata 228\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 342，metadata 342\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 228，timestamps 228，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=228，timestamps=228，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.029s，video=5.7s，timestamps=5.670726520000004s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.013s，camera=5.670726520000004s，clamp=5.683287425000001s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822754670853292，pi_T0=1792822754670853292，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822760382461673，pi_Tstop=1792822760382461673，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.018432s，first=1792822754689285564，T0=1792822754670853292，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.013948s，first=1792822754684801606，T0=1792822754670853292，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.022450s，last=1792822760360012084，Tstop=1792822760382461673，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.014373s，last=1792822760368089031，Tstop=1792822760382461673，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.034133s，vive=5.704859314s，camera=5.670726520000004s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.021572s，vive=5.704859314s，clamp=5.683287425000001s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.012542s，vive_first=1792822754676743874，camera_first=1792822754689285564，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.008058s，vive_first=1792822754676743874，clamp_first=1792822754684801606，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.021591s，vive_last=1792822760381603188，camera_last=1792822760360012084，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.013514s，vive_last=1792822760381603188，clamp_last=1792822760368089031，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141911_00039_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823376705326784, + "ended_time_ns": 1792823376884860266, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141911_00039", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141911_00039_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141911_00039 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141911_00039_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141911_00039_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141911_00039_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141911_00039\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822754670853292\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822754670853292，vive_T0=1792822754670853292，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822760382461673，vive_Tstop=1792822760382461673，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005891s，first=1792822754676743874，T0=1792822754670853292，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000858s，last=1792822760381603188，Tstop=1792822760382461673，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1142\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.0049321461672 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.0049321461672 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1142，metadata 1142\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00493415347447 Hz，最低 150.0 Hz，时长 5.704859256744385 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00493415347447 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005482912063598633s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994547603..1.0000000005450767，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.000988838077991034m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.24405659789319312deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=227 duration=5.675s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=227，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 227，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=226，rows=227，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=227，monotonic违规=0，估算频率=39.67567400472342Hz，最大间隔=0.088459694s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 227，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 39.675670647446296 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 39.675670647446296 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.08845962s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.877193%，missing=2，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 342，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 44.1459..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 342，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.00028121656728 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00028121656728 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.017656251s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=342，bad_rows=0，monotonic违规=0，估算频率=60.000303503001504Hz，最大间隔=0.017658491s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 227，metadata 227\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 342，metadata 342\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 227，timestamps 227，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=227，timestamps=227，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.021s，video=5.675s，timestamps=5.696186008000002s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.013s，camera=5.696186008000002s，clamp=5.6833066960000025s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822754670853292，pi_T0=1792822754670853292，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822760382461673，pi_Tstop=1792822760382461673，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.010784s，first=1792822754681637669，T0=1792822754670853292，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.012953s，first=1792822754683806446，T0=1792822754670853292，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.004638s，last=1792822760377823677，Tstop=1792822760382461673，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.015349s，last=1792822760367113142，Tstop=1792822760382461673，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.008673s，vive=5.704859314s，camera=5.696186008000002s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.021553s，vive=5.704859314s，clamp=5.6833066960000025s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.004894s，vive_first=1792822754676743874，camera_first=1792822754681637669，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.007063s，vive_first=1792822754676743874，clamp_first=1792822754683806446，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.003780s，vive_last=1792822760381603188，camera_last=1792822760377823677，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.014490s，vive_last=1792822760381603188，clamp_last=1792822760367113142，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141911_00039_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141911_00039_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141911_00039\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822754670853292\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822754670853292，vive_T0=1792822754670853292，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822760382461673，vive_Tstop=1792822760382461673，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005891s，first=1792822754676743874，T0=1792822754670853292，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000858s，last=1792822760381603188，Tstop=1792822760382461673，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1142\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.0049321461672 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.0049321461672 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1142，metadata 1142\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00493415347447 Hz，最低 150.0 Hz，时长 5.704859256744385 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00493415347447 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005482912063598633s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994432385..1.0000000005542689，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.00160715785337502m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.3717289066813616deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=228 duration=5.7s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=228，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 228，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=227，rows=228，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=228，monotonic违规=0，估算频率=40.030146368175785Hz，最大间隔=0.03590572s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 228，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.03014414456366 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03014414456366 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03590611s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 342，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 342，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00048466667158 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00048466667158 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020009972s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=342，bad_rows=0，monotonic违规=0，估算频率=60.00048095048275Hz，最大间隔=0.020010083s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 228，metadata 228\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 342，metadata 342\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 228，timestamps 228，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=228，timestamps=228，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.029s，video=5.7s，timestamps=5.670726520000004s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.013s，camera=5.670726520000004s，clamp=5.683287425000001s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822754670853292，pi_T0=1792822754670853292，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822760382461673，pi_Tstop=1792822760382461673，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.018432s，first=1792822754689285564，T0=1792822754670853292，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.013948s，first=1792822754684801606，T0=1792822754670853292，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.022450s，last=1792822760360012084，Tstop=1792822760382461673，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.014373s，last=1792822760368089031，Tstop=1792822760382461673，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.034133s，vive=5.704859314s，camera=5.670726520000004s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.021572s，vive=5.704859314s，clamp=5.683287425000001s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.012542s，vive_first=1792822754676743874，camera_first=1792822754689285564，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.008058s，vive_first=1792822754676743874，clamp_first=1792822754684801606，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.021591s，vive_last=1792822760381603188，camera_last=1792822760360012084，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.013514s，vive_last=1792822760381603188，clamp_last=1792822760368089031，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141911_00039_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141911_00039\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822754670853292\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822754670853292，vive_T0=1792822754670853292，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822760382461673，vive_Tstop=1792822760382461673，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005891s，first=1792822754676743874，T0=1792822754670853292，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.000858s，last=1792822760381603188，Tstop=1792822760382461673，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1142\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.0049321461672 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.0049321461672 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1142，metadata 1142\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00493415347447 Hz，最低 150.0 Hz，时长 5.704859256744385 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00493415347447 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005482912063598633s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994547603..1.0000000005450767，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.000988838077991034m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.24405659789319312deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=227 duration=5.675s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=227，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 227，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=226，rows=227，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=227，monotonic违规=0，估算频率=39.67567400472342Hz，最大间隔=0.088459694s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 227，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 39.675670647446296 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 39.675670647446296 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.08845962s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.877193%，missing=2，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 342，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 44.1459..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 342，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.00028121656728 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00028121656728 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.017656251s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=342，bad_rows=0，monotonic违规=0，估算频率=60.000303503001504Hz，最大间隔=0.017658491s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 227，metadata 227\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 342，metadata 342\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 227，timestamps 227，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=227，timestamps=227，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.021s，video=5.675s，timestamps=5.696186008000002s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.013s，camera=5.696186008000002s，clamp=5.6833066960000025s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822754670853292，pi_T0=1792822754670853292，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822760382461673，pi_Tstop=1792822760382461673，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.010784s，first=1792822754681637669，T0=1792822754670853292，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.012953s，first=1792822754683806446，T0=1792822754670853292，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.004638s，last=1792822760377823677，Tstop=1792822760382461673，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.015349s，last=1792822760367113142，Tstop=1792822760382461673，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.008673s，vive=5.704859314s，camera=5.696186008000002s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.021553s，vive=5.704859314s，clamp=5.6833066960000025s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.004894s，vive_first=1792822754676743874，camera_first=1792822754681637669，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.007063s，vive_first=1792822754676743874，clamp_first=1792822754683806446，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.003780s，vive_last=1792822760381603188，camera_last=1792822760377823677，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.014490s，vive_last=1792822760381603188，clamp_last=1792822760367113142，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141911_00039_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141911_00039/control/stop_left_hand.flag b/stack the blocks/session_20261024_141911_00039/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..30c8c358051d0fa2bc5d4be10d860bf8705f92d4 --- /dev/null +++ b/stack the blocks/session_20261024_141911_00039/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822760382461673 \ No newline at end of file diff --git a/stack the blocks/session_20261024_141911_00039/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the blocks/session_20261024_141911_00039/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..08a1c16d91fabfbf9f50cdfab4941326ee71509f --- /dev/null +++ b/stack the blocks/session_20261024_141911_00039/left_hand/Clamp_Data/clamp_data_tum.txt @@ -0,0 +1,342 @@ +1792822754.684801606 100.0000 +1792822754.701451975 100.0000 +1792822754.718118602 100.0000 +1792822754.734781934 100.0000 +1792822754.751479431 100.0000 +1792822754.768115781 100.0000 +1792822754.784784372 100.0000 +1792822754.801447333 100.0000 +1792822754.818119090 100.0000 +1792822754.834801143 100.0000 +1792822754.851450141 100.0000 +1792822754.868096565 100.0000 +1792822754.884781600 100.0000 +1792822754.901448191 100.0000 +1792822754.918120281 100.0000 +1792822754.934748168 100.0000 +1792822754.951447999 100.0000 +1792822754.968124108 100.0000 +1792822754.984821550 100.0000 +1792822755.001452030 100.0000 +1792822755.018116269 100.0000 +1792822755.034866710 100.0000 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"shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822754670853292, + "capture_stop_time_ns": 1792822760382461673 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 102.3046875, + "reference_source": "max_open_init", + "zero_angle_deg": 102.3046875, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 9.999e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822754670971033, + "camera_frame_count": 228, + "camera_started_time_ns": 1792822751957837063, + "camera_stopped_time_ns": 1792822760387377271, + "camera_actual_fps": 27.047738592387052, + "camera_first_frame_time_ns": 1792822754689285564, + "camera_last_frame_time_ns": 1792822760360012084, + "camera_frame_timestamp_fps": 40.030144144563685, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822760384078130, + "capture_count": 338, + "capture_error_count": 0, + "writer_count": 228, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 342, + "clamp_first_sample_time_ns": 1792822754684801606, + "clamp_last_sample_time_ns": 1792822760368089031, + "clamp_actual_hz": 60.0004846666716, + "clamp_value_min": 100.0, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 212, + "read_count": 720, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1478 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..c1e854c9eae1075dbfcd37122c7f1d27da911450 --- /dev/null +++ b/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822751071628954, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_141911_00039", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141857_00038", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141857_00038", + "--control-generation", + "38", + "--ready-token", + "efbe19e95dde46abae842b0098d615e3", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822751072206545, + "ended_time_ns": 1792822751090175112, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.diagnostics.json", + "capture_start_time_ns": 1792822741052598359, + "capture_stop_time_ns": 1792822748382512725, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038/left_hand", + "timing": { + "server_start_request_time_ns": 1792822737521895298, + "subprocess_popen_time_ns": 1792822737545869272, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 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"tactile_init_end_time_ns": null, + "ready_time_ns": 1792822738434839401, + "armed_time_ns": 1792822738562451869, + "waiting_t0_time_ns": 1792822738568539861, + "recording_start_time_ns": 1792822741055871517, + "stop_request_time_ns": 1792822747427906377, + "finalized_time_ns": 1792822748393589789 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822750758145819, + "ended_time_ns": 1792822750759184491, + "duration_s": 0.001038672, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822750758224244, + "ended_time_ns": 1792822750758428186, + "duration_s": 0.000203942, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822750758227818, + "ok": true, + "ended_time_ns": 1792822750758235152, + "duration_s": 7.334e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822750758236115, + "ok": true, + "ended_time_ns": 1792822750758239022, + "duration_s": 2.907e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822750758239503, + "ok": true, + "ended_time_ns": 1792822750758242188, + "duration_s": 2.685e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822750758242540, + "ok": true, + "ended_time_ns": 1792822750758418464, + "duration_s": 0.000175924 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822750758419519, + "ok": true, + "ended_time_ns": 1792822750758422538, + "duration_s": 3.019e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822750758423112, + "ok": true, + "ended_time_ns": 1792822750758425575, + "duration_s": 2.463e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822750758426001, + "ok": true, + "ended_time_ns": 1792822750758427779, + "duration_s": 1.778e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822750759042270, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822750714990271, + "frame_age_s": 0.044079092, + "heartbeat_age_s": 0.031397781, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822750759073862, + "duration_s": 3.1592e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822750759075733, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 101.95312499999999, + "sample_observed_time_ns": 1792822750718078562, + "sample_age_s": 0.0410043, + "heartbeat_age_s": 0.031422243, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822750759086196, + "duration_s": 1.0463e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822750759087270, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822750759089547, + "duration_s": 2.277e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822750759090455, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822750759182991, + "duration_s": 9.2536e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 38, + "ready_token": "efbe19e95dde46abae842b0098d615e3", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "arm_request_id": "67501fb9d0ac4a91b974343a23919e91", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2177, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 38, + "last_bootstrap_time_ns": 1792822749203384835, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822750714990271, + "capture_count": 493, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.95312499999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822750718078562, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822750727656045 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822750135160944, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7733, + "displayed_count": 7530, + "dropped_count": 202, + "decode_error_count": 0, + "last_receive_time_ns": 1792822750073430034, + "last_frame_time_ns": 1792822750068287011, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 38, + "last_bootstrap_time_ns": 1792822749203384835, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822750714990271, + "capture_count": 493, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.95312499999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822750718078562, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822750727656045 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822751093244611, + "ended_time_ns": 1792822751101407981, + "duration_s": 0.000217756, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822751092241416, + "ok": true, + "ended_time_ns": 1792822751092249490, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822751092251268, + "ok": true, + "ended_time_ns": 1792822751092253879, + "duration_s": 2.611e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822751092254453, + "ok": true, + "ended_time_ns": 1792822751092257156, + "duration_s": 2.703e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822751092257545, + "ok": true, + "ended_time_ns": 1792822751092444191, + "duration_s": 0.000186646 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822751092445432, + "ok": true, + "ended_time_ns": 1792822751092449043, + "duration_s": 3.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822751092449617, + "ok": true, + "ended_time_ns": 1792822751092452209, + "duration_s": 2.592e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822751092452728, + "ok": true, + "ended_time_ns": 1792822751092454635, + "duration_s": 1.907e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141911_00039", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141911_00039", + "--control-generation", + "39", + "--ready-token", + "019452cf05c542f28f6fd3a3b8aae211", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822751107232714, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "timing": { + "server_start_request_time_ns": 1792822751102461982, + "subprocess_popen_time_ns": 1792822751107232714, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822751092237305, + "ended_time_ns": 1792822751092455061, + "duration_s": 0.000217756, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822751092241416, + "ok": true, + "ended_time_ns": 1792822751092249490, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822751092251268, + "ok": true, + "ended_time_ns": 1792822751092253879, + "duration_s": 2.611e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822751092254453, + "ok": true, + "ended_time_ns": 1792822751092257156, + "duration_s": 2.703e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822751092257545, + "ok": true, + "ended_time_ns": 1792822751092444191, + "duration_s": 0.000186646 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822751092445432, + "ok": true, + "ended_time_ns": 1792822751092449043, + "duration_s": 3.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822751092449617, + "ok": true, + "ended_time_ns": 1792822751092452209, + "duration_s": 2.592e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822751092452728, + "ok": true, + "ended_time_ns": 1792822751092454635, + "duration_s": 1.907e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 39, + "ready_token": "019452cf05c542f28f6fd3a3b8aae211", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2178, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 38, + "last_bootstrap_time_ns": 1792822749203384835, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822750714990271, + "capture_count": 493, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.95312499999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822750718078562, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822750727656045 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822750135160944, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7733, + "displayed_count": 7530, + "dropped_count": 202, + "decode_error_count": 0, + "last_receive_time_ns": 1792822750073430034, + "last_frame_time_ns": 1792822750068287011, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 38, + "last_bootstrap_time_ns": 1792822749203384835, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822750714990271, + "capture_count": 493, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.95312499999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822750718078562, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822750727656045 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822751105251550, + "ended_time_ns": 1792822751122639907 + }, + "pi_start_request_time_ns": 1792822751122648100, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822751125982567, + "capture_start_time_ns": 1792822754670853292, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822759435646949, + "capture_stop_time_ns": 1792822760382461673, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141911_00039", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141911_00039", + "--control-generation", + "39", + "--ready-token", + "019452cf05c542f28f6fd3a3b8aae211", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822751107232714, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.diagnostics.json", + "capture_start_time_ns": 1792822754670853292, + "capture_stop_time_ns": 1792822760382461673, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "timing": { + "server_start_request_time_ns": 1792822751102461982, + "subprocess_popen_time_ns": 1792822751107232714, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822751142409593, + "validate_start_time_ns": 1792822752195270331, + "session_dir_create_start_time_ns": 1792822751143503522, + "session_dir_create_end_time_ns": 1792822751145146445, + "as5600_init_start_time_ns": 1792822751146174412, + "as5600_init_end_time_ns": 1792822751146975253, + "as5600_zero_start_time_ns": 1792822751148280236, + "as5600_zero_end_time_ns": 1792822751954073522, + "camera_init_start_time_ns": 1792822751955747647, + "camera_init_end_time_ns": 1792822751957841693, + "camera_start_start_time_ns": 1792822751959065454, + "camera_start_end_time_ns": 1792822751977569816, + "camera_first_frame_wait_start_time_ns": 1792822751980920623, + "camera_first_frame_wait_end_time_ns": 1792822751982887393, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822751986944246, + "armed_time_ns": 1792822752194317529, + "waiting_t0_time_ns": 1792822752196632424, + "recording_start_time_ns": 1792822754671006477, + "stop_request_time_ns": 1792822759437436111, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822751092237305, + "ended_time_ns": 1792822751092455061, + "duration_s": 0.000217756, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822751092241416, + "ok": true, + "ended_time_ns": 1792822751092249490, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822751092251268, + "ok": true, + "ended_time_ns": 1792822751092253879, + "duration_s": 2.611e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822751092254453, + "ok": true, + "ended_time_ns": 1792822751092257156, + "duration_s": 2.703e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822751092257545, + "ok": true, + "ended_time_ns": 1792822751092444191, + "duration_s": 0.000186646 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822751092445432, + "ok": true, + "ended_time_ns": 1792822751092449043, + "duration_s": 3.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822751092449617, + "ok": true, + "ended_time_ns": 1792822751092452209, + "duration_s": 2.592e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822751092452728, + "ok": true, + "ended_time_ns": 1792822751092454635, + "duration_s": 1.907e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 39, + "ready_token": "019452cf05c542f28f6fd3a3b8aae211", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "arm_request_id": "b537f99fe453483ebb94454f0958629a", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2178, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 38, + "last_bootstrap_time_ns": 1792822749203384835, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822751114659096, + "capture_count": 509, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 101.95312499999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 165, + "max_queue_depth": 165, + "read_count": 165, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822751134782843, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822751138472701 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822759437193307, + "ended_time_ns": 1792822759451416063, + "capture_stop_time_ns": 1792822760382461673, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_141911_00039", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 123874 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 124478 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141690 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 125690 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 124478 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129673 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141911_00039", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141911_00039", + "--control-generation", + "39", + "--ready-token", + "019452cf05c542f28f6fd3a3b8aae211", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822761409300915, + "ended_time_ns": 1792822761422314038, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.diagnostics.json", + "capture_start_time_ns": 1792822754670853292, + "capture_stop_time_ns": 1792822760382461673, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "timing": { + "server_start_request_time_ns": 1792822751102461982, + "subprocess_popen_time_ns": 1792822751107232714, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822751142409593, + "validate_start_time_ns": 1792822752195270331, + "session_dir_create_start_time_ns": 1792822751143503522, + "session_dir_create_end_time_ns": 1792822751145146445, + "as5600_init_start_time_ns": 1792822751146174412, + "as5600_init_end_time_ns": 1792822751146975253, + "as5600_zero_start_time_ns": 1792822751148280236, + "as5600_zero_end_time_ns": 1792822751954073522, + "camera_init_start_time_ns": 1792822751955747647, + "camera_init_end_time_ns": 1792822751957841693, + "camera_start_start_time_ns": 1792822751959065454, + "camera_start_end_time_ns": 1792822751977569816, + "camera_first_frame_wait_start_time_ns": 1792822751980920623, + "camera_first_frame_wait_end_time_ns": 1792822751982887393, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822751986944246, + "armed_time_ns": 1792822752194317529, + "waiting_t0_time_ns": 1792822752196632424, + "recording_start_time_ns": 1792822754671006477, + "stop_request_time_ns": 1792822759442496431, + "finalized_time_ns": 1792822760388767530 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822751092237305, + "ended_time_ns": 1792822751092455061, + "duration_s": 0.000217756, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822751092241416, + "ok": true, + "ended_time_ns": 1792822751092249490, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822751092251268, + "ok": true, + "ended_time_ns": 1792822751092253879, + "duration_s": 2.611e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822751092254453, + "ok": true, + "ended_time_ns": 1792822751092257156, + "duration_s": 2.703e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822751092257545, + "ok": true, + "ended_time_ns": 1792822751092444191, + "duration_s": 0.000186646 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822751092445432, + "ok": true, + "ended_time_ns": 1792822751092449043, + "duration_s": 3.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822751092449617, + "ok": true, + "ended_time_ns": 1792822751092452209, + "duration_s": 2.592e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822751092452728, + "ok": true, + "ended_time_ns": 1792822751092454635, + "duration_s": 1.907e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 39, + "ready_token": "019452cf05c542f28f6fd3a3b8aae211", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "arm_request_id": "b537f99fe453483ebb94454f0958629a", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2178, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 39, + "last_bootstrap_time_ns": 1792822760390005736, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822760886759588, + "capture_count": 358, + "capture_error_count": 0, + "writer_count": 228, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.3046875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 32, + "max_queue_depth": 212, + "read_count": 751, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822760901443409, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822760904993824 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822760632729025, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7823, + "displayed_count": 7615, + "dropped_count": 207, + "decode_error_count": 0, + "last_receive_time_ns": 1792822760546191578, + "last_frame_time_ns": 1792822760578277017, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 39, + "last_bootstrap_time_ns": 1792822760390005736, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822760886759588, + "capture_count": 358, + "capture_error_count": 0, + "writer_count": 228, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.3046875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 32, + "max_queue_depth": 212, + "read_count": 751, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822760901443409, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822760904993824 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792822761458893004, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792822761458892237 + } + }, + "updated_time_ns": 1792822761458894567 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..fb95f6191dc23632be518a9e2642dc27bde496e9 --- /dev/null +++ b/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822751127370943, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "left_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-26B06EF4", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792822754670853292, + "capture_stop_time_ns": 1792822760382461673, + "effective_capture_stop_time_ns": 1792822760382461673, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 1, + "tracker_serial_used": "LHR-26B06EF4", + "vive_bias": { + "x0": 0.1038847416639328, + "y0": -0.7392655611038208, + "z0": -0.6191043257713318, + "qx0": 0.09132469145357924, + "qy0": 0.772660161973319, + "qz0": -0.1071882186748768, + "qw0": 0.6190046531388756 + }, + "zero_reference_sample_ns": 1792822754676743874 + }, + "data_mark": "FORMAL", + "test_artifact": false, + "result": { + "sample_count": 1142, + "invalid_reads": 0, + "disconnected_reads": 0, + "invalid_pose_reads": 0, + "recording_disconnected_reads": 0, + "recording_invalid_pose_reads": 0, + "started_time_ns": 1792822754671585612, + "effective_record_start_time_ns": 1792822754671585612, + "stopped_time_ns": 1792822760386844285, + "effective_capture_stop_time_ns": 1792822760382461673, + "first_sample_time_ns": 1792822754676743874, + "last_sample_time_ns": 1792822760381603188, + "sample_duration_s": 5.704859314, + "sample_timestamp_hz": 200.0049321461672, + "artifacts": { + "trajectory": { + "path": 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blocks/session_20261024_141911_00039/right_hand/Metadata/metadata.json @@ -0,0 +1,343 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "raspberry_pi_capture", + "created_time_ns": 1792822760389631460, + "platform": { + "system": "Linux", + "release": "6.12.75+rpt-rpi-2712", + "machine": "aarch64" + }, + "paths": { + "run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand", + "rgb_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand/RGB_Images", + "clamp_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Clamp_Data", + "metadata_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Metadata", + "video_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand/RGB_Images/video.mp4", + "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand/RGB_Images/timestamps.csv", + "clamp_data_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Clamp_Data/clamp_data_tum.txt", + "metadata_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/metadata.json", + "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Clamp_Data/clamp_timebase.csv" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.6", + "left_pi_host": "192.168.157.6", + "right_pi_host": "192.168.157.66", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/TeleUMI", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "pi_standby": { 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"sensor": "as5600", + "hand_mode": "dual", + "hand_name": "right_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + 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"主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822754670853292, + "capture_stop_time_ns": 1792822760382461673 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 281.513671875, + "reference_source": "max_open_init", + "zero_angle_deg": 281.513671875, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.759e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822754674083811, + "camera_frame_count": 227, + "camera_started_time_ns": 1792822752017167846, + "camera_stopped_time_ns": 1792822760387107798, + "camera_actual_fps": 27.120863626477785, + "camera_first_frame_time_ns": 1792822754681637669, + "camera_last_frame_time_ns": 1792822760377823677, + "camera_frame_timestamp_fps": 39.67567064744632, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822760377823677, + "capture_count": 333, + "capture_error_count": 0, + "writer_count": 227, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 342, + "clamp_first_sample_time_ns": 1792822754683806446, + "clamp_last_sample_time_ns": 1792822760367113142, + "clamp_actual_hz": 60.00028121656731, + "clamp_value_min": 44.14585426175449, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 209, + "read_count": 3887, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1456 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..6756cf229051982f8d0a5c1e76b48bf629f7eb09 --- /dev/null +++ b/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822751066531189, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_141911_00039", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + 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"require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141857_00038", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141857_00038", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141857_00038", + "--control-generation", + "38", + "--ready-token", + "172e99913834421490bab6c35b26a7c4", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 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1792822738472342173, + "camera_start_start_time_ns": 1792822738473409405, + "camera_start_end_time_ns": 1792822738475047038, + "camera_first_frame_wait_start_time_ns": 1792822738476725060, + "camera_first_frame_wait_end_time_ns": 1792822738478117178, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822738479298019, + "armed_time_ns": 1792822738647265635, + "waiting_t0_time_ns": 1792822738652465904, + "recording_start_time_ns": 1792822741057405685, + "stop_request_time_ns": 1792822747396786894, + "finalized_time_ns": 1792822748540285568 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822750902484267, + "ended_time_ns": 1792822750903475684, + "duration_s": 0.000991417, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822750902556748, + "ended_time_ns": 1792822750902754246, + "duration_s": 0.000197498, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822750902559766, + "ok": true, + "ended_time_ns": 1792822750902567081, + "duration_s": 7.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822750902567988, + "ok": true, + "ended_time_ns": 1792822750902570970, + "duration_s": 2.982e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822750902571433, + "ok": true, + "ended_time_ns": 1792822750902574414, + "duration_s": 2.981e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822750902574803, + "ok": true, + "ended_time_ns": 1792822750902743709, + "duration_s": 0.000168906 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822750902744672, + "ok": true, + "ended_time_ns": 1792822750902747987, + "duration_s": 3.315e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822750902748542, + "ok": true, + "ended_time_ns": 1792822750902751394, + "duration_s": 2.852e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822750902751727, + "ok": true, + "ended_time_ns": 1792822750902753727, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822750903337315, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822750558721437, + "frame_age_s": 0.344640729, + "heartbeat_age_s": 0.332871482, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822750903366518, + "duration_s": 2.9203e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822750903368240, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 281.42578125, + "sample_observed_time_ns": 1792822750567112900, + "sample_age_s": 0.336261766, + "heartbeat_age_s": 0.332894574, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822750903377203, + "duration_s": 8.963e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822750903378203, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822750903380555, + "duration_s": 2.352e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822750903381592, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822750903474128, + "duration_s": 9.2536e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 38, + "ready_token": "172e99913834421490bab6c35b26a7c4", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141857_00038.ready.json", + "arm_request_id": "67501fb9d0ac4a91b974343a23919e91", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3005, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 38, + "last_bootstrap_time_ns": 1792822748542154403, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822750558721437, + "capture_count": 484, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.42578125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 131, + "max_queue_depth": 209, + "read_count": 3298, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822750567112900, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822750570476240 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822749999380675, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7243, + "displayed_count": 5703, + "dropped_count": 1538, + "decode_error_count": 0, + "last_receive_time_ns": 1792822749990520420, + "last_frame_time_ns": 1792822749909057682, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 38, + "last_bootstrap_time_ns": 1792822748542154403, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822750558721437, + "capture_count": 484, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.42578125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 131, + "max_queue_depth": 209, + "read_count": 3298, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822750567112900, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822750570476240 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822751088077661, + "ended_time_ns": 1792822751113528678, + "duration_s": 0.000196387, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822751093186958, + "ok": true, + "ended_time_ns": 1792822751093194218, + "duration_s": 7.26e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822751093196069, + "ok": true, + "ended_time_ns": 1792822751093198977, + "duration_s": 2.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822751093199458, + "ok": true, + "ended_time_ns": 1792822751093202255, + "duration_s": 2.797e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822751093202606, + "ok": true, + "ended_time_ns": 1792822751093370031, + "duration_s": 0.000167425 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822751093370920, + "ok": true, + "ended_time_ns": 1792822751093374012, + "duration_s": 3.092e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822751093374512, + "ok": true, + "ended_time_ns": 1792822751093377346, + "duration_s": 2.834e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822751093377679, + "ok": true, + "ended_time_ns": 1792822751093379383, + "duration_s": 1.704e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141911_00039", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141911_00039", + "--control-generation", + "39", + "--ready-token", + "a710c9a72952496b89417889a374ccfb", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822751127249470, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand", + "timing": { + "server_start_request_time_ns": 1792822751122318551, + "subprocess_popen_time_ns": 1792822751127249470, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822751093183440, + "ended_time_ns": 1792822751093379827, + "duration_s": 0.000196387, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822751093186958, + "ok": true, + "ended_time_ns": 1792822751093194218, + "duration_s": 7.26e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822751093196069, + "ok": true, + "ended_time_ns": 1792822751093198977, + "duration_s": 2.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822751093199458, + "ok": true, + "ended_time_ns": 1792822751093202255, + "duration_s": 2.797e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822751093202606, + "ok": true, + "ended_time_ns": 1792822751093370031, + "duration_s": 0.000167425 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822751093370920, + "ok": true, + "ended_time_ns": 1792822751093374012, + "duration_s": 3.092e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822751093374512, + "ok": true, + "ended_time_ns": 1792822751093377346, + "duration_s": 2.834e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822751093377679, + "ok": true, + "ended_time_ns": 1792822751093379383, + "duration_s": 1.704e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 39, + "ready_token": "a710c9a72952496b89417889a374ccfb", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3006, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141857_00038", + "generation": 38, + "session_count": 38, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 38, + "last_bootstrap_time_ns": 1792822748542154403, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822751058410583, + "capture_count": 504, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.42578125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + 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"started_time_ns": 1792822751093183440, + "ended_time_ns": 1792822751093379827, + "duration_s": 0.000196387, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822751093186958, + "ok": true, + "ended_time_ns": 1792822751093194218, + "duration_s": 7.26e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822751093196069, + "ok": true, + "ended_time_ns": 1792822751093198977, + "duration_s": 2.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822751093199458, + "ok": true, + "ended_time_ns": 1792822751093202255, + "duration_s": 2.797e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822751093202606, + "ok": true, + "ended_time_ns": 1792822751093370031, + "duration_s": 0.000167425 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 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freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + 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"expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 39, + "ready_token": "a710c9a72952496b89417889a374ccfb", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "arm_request_id": "b537f99fe453483ebb94454f0958629a", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3006, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 38, + "last_bootstrap_time_ns": 1792822748542154403, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822751158441933, + "capture_count": 508, + "capture_error_count": 0, + "writer_count": 293, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.42578125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 166, + "max_queue_depth": 209, + "read_count": 3333, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822751150447375, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822751161223686 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822759520456665, + "ended_time_ns": 1792822759581778465, + "capture_stop_time_ns": 1792822760382461673, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141911_00039", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141911_00039", + "--control-generation", + "39", + "--ready-token", + "a710c9a72952496b89417889a374ccfb", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822761737401907, + "ended_time_ns": 1792822761750882089, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.diagnostics.json", + "capture_start_time_ns": 1792822754670853292, + "capture_stop_time_ns": 1792822760382461673, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand", + "timing": { + "server_start_request_time_ns": 1792822751122318551, + "subprocess_popen_time_ns": 1792822751127249470, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822751202376598, + "validate_start_time_ns": 1792822752198140680, + "session_dir_create_start_time_ns": 1792822751203168776, + "session_dir_create_end_time_ns": 1792822751204117267, + "as5600_init_start_time_ns": 1792822751205271961, + "as5600_init_end_time_ns": 1792822751206263063, + "as5600_zero_start_time_ns": 1792822751207995881, + "as5600_zero_end_time_ns": 1792822752013242751, + "camera_init_start_time_ns": 1792822752015032791, + "camera_init_end_time_ns": 1792822752017172124, + "camera_start_start_time_ns": 1792822752019803082, + "camera_start_end_time_ns": 1792822752021457363, + "camera_first_frame_wait_start_time_ns": 1792822752023119775, + "camera_first_frame_wait_end_time_ns": 1792822752085879605, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822752089066836, + "armed_time_ns": 1792822752196308326, + "waiting_t0_time_ns": 1792822752258832214, + "recording_start_time_ns": 1792822754674097625, + "stop_request_time_ns": 1792822759524467068, + "finalized_time_ns": 1792822760388643673 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822751093183440, + "ended_time_ns": 1792822751093379827, + "duration_s": 0.000196387, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822751093186958, + "ok": true, + "ended_time_ns": 1792822751093194218, + "duration_s": 7.26e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822751093196069, + "ok": true, + "ended_time_ns": 1792822751093198977, + "duration_s": 2.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822751093199458, + "ok": true, + "ended_time_ns": 1792822751093202255, + "duration_s": 2.797e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822751093202606, + "ok": true, + "ended_time_ns": 1792822751093370031, + "duration_s": 0.000167425 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822751093370920, + "ok": true, + "ended_time_ns": 1792822751093374012, + "duration_s": 3.092e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822751093374512, + "ok": true, + "ended_time_ns": 1792822751093377346, + "duration_s": 2.834e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822751093377679, + "ok": true, + "ended_time_ns": 1792822751093379383, + "duration_s": 1.704e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 39, + "ready_token": "a710c9a72952496b89417889a374ccfb", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "ready_file_path": 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null, + "updated_time_ns": 1792822761702752792, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822761712706685 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + 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true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 39, + "last_bootstrap_time_ns": 1792822761204679595, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822761701589728, + "capture_count": 386, + "capture_error_count": 0, + "writer_count": 227, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.107421875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 79, + "max_queue_depth": 79, + "read_count": 79, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822761702752792, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822761712706685 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200, + "status_poll_attempts": 3 + }, + "final_ok": true + }, + "updated_time_ns": 1792822761759318014 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..73378a3aadd51a464321e55de02b0a22d422d925 --- /dev/null +++ b/stack the blocks/session_20261024_141911_00039/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822751127383901, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141911_00039/right_hand", + "merged_trajectory_dir": 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"expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 39, + "ready_token": "019452cf05c542f28f6fd3a3b8aae211", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "arm_request_id": "b537f99fe453483ebb94454f0958629a", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2178, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 39, + "last_bootstrap_time_ns": 1792822760390005736, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822762407144331, + "capture_count": 419, + "capture_error_count": 0, + "writer_count": 228, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.3046875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 123, + "max_queue_depth": 212, + "read_count": 842, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822762418117091, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822762424142528 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822762684583227, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7841, + "displayed_count": 7633, + "dropped_count": 207, + "decode_error_count": 0, + "last_receive_time_ns": 1792822762613495387, + "last_frame_time_ns": 1792822762590969487, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 39, + "last_bootstrap_time_ns": 1792822760390005736, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822762407144331, + "capture_count": 419, + "capture_error_count": 0, + "writer_count": 228, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.3046875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 123, + "max_queue_depth": 212, + "read_count": 842, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822762418117091, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822762424142528 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + 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"started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822762979671838, + "ended_time_ns": 1792822762987985892, + "duration_s": 0.00145598, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822762977692579, + "ended_time_ns": 1792822762977936483, + "duration_s": 0.000243904, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822762977695968, + "ok": true, + "ended_time_ns": 1792822762977703430, + "duration_s": 7.462e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822762977704449, + "ok": true, + "ended_time_ns": 1792822762977707153, + "duration_s": 2.704e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822762977707745, + "ok": true, + "ended_time_ns": 1792822762977710875, + "duration_s": 3.13e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822762977711245, + "ok": true, + "ended_time_ns": 1792822762977923409, + "duration_s": 0.000212164 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822762977925390, + "ok": true, + "ended_time_ns": 1792822762977929816, + "duration_s": 4.426e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822762977930464, + "ok": true, + "ended_time_ns": 1792822762977933279, + "duration_s": 2.815e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822762977933668, + "ok": true, + "ended_time_ns": 1792822762977936020, + "duration_s": 2.352e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822762978847304, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822762931988305, + "frame_age_s": 0.046902721, + "heartbeat_age_s": 0.038861828, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822762978896451, + "duration_s": 4.9147e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822762978899137, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 102.3046875, + "sample_observed_time_ns": 1792822762934780453, + "sample_age_s": 0.044128258, + "heartbeat_age_s": 0.038898198, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822762978913359, + "duration_s": 1.4222e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822762978919599, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822762979063116, + "duration_s": 0.000143517 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822762987994005, + "ended_time_ns": 1792822763087259332, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + 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"/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141911_00039", + "--control-generation", + "39", + "--ready-token", + "a710c9a72952496b89417889a374ccfb", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822763087276382, + "ended_time_ns": 1792822763102262890, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.diagnostics.json", + "capture_start_time_ns": 1792822754670853292, + "capture_stop_time_ns": 1792822760382461673, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/right_hand", + "timing": { + "server_start_request_time_ns": 1792822751122318551, + "subprocess_popen_time_ns": 1792822751127249470, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822751202376598, + "validate_start_time_ns": 1792822752198140680, + "session_dir_create_start_time_ns": 1792822751203168776, + "session_dir_create_end_time_ns": 1792822751204117267, + "as5600_init_start_time_ns": 1792822751205271961, + "as5600_init_end_time_ns": 1792822751206263063, + "as5600_zero_start_time_ns": 1792822751207995881, + "as5600_zero_end_time_ns": 1792822752013242751, + "camera_init_start_time_ns": 1792822752015032791, + "camera_init_end_time_ns": 1792822752017172124, + "camera_start_start_time_ns": 1792822752019803082, + "camera_start_end_time_ns": 1792822752021457363, + "camera_first_frame_wait_start_time_ns": 1792822752023119775, + "camera_first_frame_wait_end_time_ns": 1792822752085879605, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822752089066836, + "armed_time_ns": 1792822752196308326, + "waiting_t0_time_ns": 1792822752258832214, + "recording_start_time_ns": 1792822754674097625, + "stop_request_time_ns": 1792822759524467068, + "finalized_time_ns": 1792822760388643673 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822751093183440, + "ended_time_ns": 1792822751093379827, + "duration_s": 0.000196387, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822751093186958, + "ok": true, + "ended_time_ns": 1792822751093194218, + "duration_s": 7.26e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822751093196069, + "ok": true, + "ended_time_ns": 1792822751093198977, + "duration_s": 2.908e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822751093199458, + "ok": true, + "ended_time_ns": 1792822751093202255, + "duration_s": 2.797e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822751093202606, + "ok": true, + "ended_time_ns": 1792822751093370031, + "duration_s": 0.000167425 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822751093370920, + "ok": true, + "ended_time_ns": 1792822751093374012, + "duration_s": 3.092e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822751093374512, + "ok": true, + "ended_time_ns": 1792822751093377346, + "duration_s": 2.834e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822751093377679, + "ok": true, + "ended_time_ns": 1792822751093379383, + "duration_s": 1.704e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 39, + "ready_token": "a710c9a72952496b89417889a374ccfb", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "arm_request_id": "b537f99fe453483ebb94454f0958629a", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3006, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 39, + "last_bootstrap_time_ns": 1792822761204679595, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822762726403496, + "capture_count": 427, + "capture_error_count": 0, + "writer_count": 227, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.107421875, + "gripper_gap_mm": 84.83685215162367, + "status_ok": true, + "queue_size": 600, + "queue_depth": 141, + "max_queue_depth": 141, + "read_count": 141, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822762736086077, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822762742104153 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822762891426435, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7354, + "displayed_count": 5780, + "dropped_count": 1573, + "decode_error_count": 0, + "last_receive_time_ns": 1792822762780882141, + "last_frame_time_ns": 1792822762811689811, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 39, + "last_bootstrap_time_ns": 1792822761204679595, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822762726403496, + "capture_count": 427, + "capture_error_count": 0, + "writer_count": 227, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.107421875, + "gripper_gap_mm": 84.83685215162367, + "status_ok": true, + "queue_size": 600, + "queue_depth": 141, + "max_queue_depth": 141, + "read_count": 141, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822762736086077, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822762742104153 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822763130198654, + "ended_time_ns": 1792822763139802394, + "duration_s": 0.00103901, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822763132059627, + "ended_time_ns": 1792822763132261755, + "duration_s": 0.000202128, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822763132062849, + "ok": true, + "ended_time_ns": 1792822763132070534, + "duration_s": 7.685e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822763132071497, + "ok": true, + "ended_time_ns": 1792822763132074497, + "duration_s": 3e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822763132074997, + "ok": true, + "ended_time_ns": 1792822763132078071, + "duration_s": 3.074e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822763132078441, + "ok": true, + "ended_time_ns": 1792822763132252588, + "duration_s": 0.000174147 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822763132253495, + "ok": true, + "ended_time_ns": 1792822763132256514, + "duration_s": 3.019e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822763132257162, + "ok": true, + "ended_time_ns": 1792822763132259477, + "duration_s": 2.315e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822763132259847, + "ok": true, + "ended_time_ns": 1792822763132261310, + "duration_s": 1.463e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822763132869027, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822762726403496, + "frame_age_s": 0.406492179, + "heartbeat_age_s": 0.390775318, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822763132899953, + "duration_s": 3.0926e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822763132901675, + "status_ok": true, + "gap_mm": 84.83685215162367, + "reference_angle_deg": 280.107421875, + "sample_observed_time_ns": 1792822762736086077, + "sample_age_s": 0.396822301, + "heartbeat_age_s": 0.390800225, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822763132911397, + "duration_s": 9.722e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822763132915693, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822763133011655, + "duration_s": 9.5962e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822763139825572, + "ended_time_ns": 1792822763254085109, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823150818889439, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823129737994503, + "ended_time_ns": 1792823129754482711, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823129754600863, + "ended_time_ns": 1792823129838313204, + "transferred_bytes": 13667, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,667 bytes\nTotal transferred file size: 13,667 bytes\nLiteral data: 13,667 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,803\n\nsent 46 bytes received 13,803 bytes 27,698.00 bytes/sec\ntotal size is 13,667 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823129838801771, + "ended_time_ns": 1792823150817283347, + "transferred_bytes": 8558130, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,558,130 bytes\nTotal transferred file size: 8,558,130 bytes\nLiteral data: 8,558,130 bytes\nMatched data: 0 bytes\nFile list size: 228\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,560,632\n\nsent 168 bytes received 8,560,632 bytes 398,176.74 bytes/sec\ntotal size is 8,558,130 speedup is 1.00" + } + ], + "transferred_bytes": 8571797, + "copied_local_bytes": 9055865, + "started_time_ns": 1792823129737474595, + "ended_time_ns": 1792823150817875860 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823129738145743, + "ended_time_ns": 1792823129753818066, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823129753914956, + "ended_time_ns": 1792823129803055969, + "transferred_bytes": 13700, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,700 bytes\nTotal transferred file size: 13,700 bytes\nLiteral data: 13,700 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,836\n\nsent 46 bytes received 13,836 bytes 27,764.00 bytes/sec\ntotal size is 13,700 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823129803348657, + "ended_time_ns": 1792823130426539279, + "transferred_bytes": 9953051, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 9,953,051 bytes\nTotal transferred file size: 9,953,051 bytes\nLiteral data: 9,953,051 bytes\nMatched data: 0 bytes\nFile list size: 219\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 9,955,888\n\nsent 168 bytes received 9,955,888 bytes 6,637,370.67 bytes/sec\ntotal size is 9,953,051 speedup is 1.00" + } + ], + "transferred_bytes": 9966751, + "copied_local_bytes": 10434923, + "started_time_ns": 1792823129737692451, + "ended_time_ns": 1792823130427116684 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_141923_00040", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823376640978348, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823376269664733, + "ended_time_ns": 1792823376640752344, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823376269664733, + "ended_time_ns": 1792823376455303333, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141923_00040", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141923_00040_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141923_00040 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141923_00040_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141923_00040_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141923_00040_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141923_00040\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822766859894777\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822766859894777，vive_T0=1792822766859894777，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822773703521218，vive_Tstop=1792822773703521218，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.010016s，first=1792822766869910661，T0=1792822766859894777，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003746s，last=1792822773699775380，Tstop=1792822773703521218，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1367\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.0039614547452 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.0039614547452 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1367，metadata 1367\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00396082890182 Hz，最低 150.0 Hz，时长 6.829864740371704 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00396082890182 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.007856607437133789s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993647245..1.0000000006008463，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0026168642965690805m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.5618809330292638deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=274 duration=6.85s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=274，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 274，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=273，rows=274，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=274，monotonic违规=0，估算频率=40.023864327332234Hz，最大间隔=0.033095703s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 274，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02386442708485 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02386442708485 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033095647s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 411，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 411，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.999952816622454 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999952816622454 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020667703s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=411，bad_rows=0，monotonic违规=0，估算频率=59.99994793467933Hz，最大间隔=0.020668055s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 274，metadata 274\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 411，metadata 411\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 274，timestamps 274，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=274，timestamps=274，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.029s，video=6.85s，timestamps=6.820930560000001s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.012s，camera=6.820930560000001s，clamp=6.833338707000002s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822766859894777，pi_T0=1792822766859894777，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822773703521218，pi_Tstop=1792822773703521218，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.019214s，first=1792822766879108853，T0=1792822766859894777，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.008219s，first=1792822766868113742，T0=1792822766859894777，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.003482s，last=1792822773700039413，Tstop=1792822773703521218，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.002069s，last=1792822773701452449，Tstop=1792822773703521218，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.008934s，vive=6.829864719s，camera=6.820930560000001s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.003474s，vive=6.829864719s，clamp=6.833338707000002s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.009198s，vive_first=1792822766869910661，camera_first=1792822766879108853，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.001797s，vive_first=1792822766869910661，clamp_first=1792822766868113742，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.000264s，vive_last=1792822773699775380，camera_last=1792822773700039413，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.001677s，vive_last=1792822773699775380，clamp_last=1792822773701452449，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141923_00040_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823376455606929, + "ended_time_ns": 1792823376640752344, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141923_00040", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141923_00040_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141923_00040 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141923_00040_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141923_00040_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141923_00040_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141923_00040\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822766859894777\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822766859894777，vive_T0=1792822766859894777，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822773703521218，vive_Tstop=1792822773703521218，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.010016s，first=1792822766869910661，T0=1792822766859894777，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003746s，last=1792822773699775380，Tstop=1792822773703521218，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1367\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.0039614547452 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.0039614547452 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1367，metadata 1367\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00396082890182 Hz，最低 150.0 Hz，时长 6.829864740371704 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00396082890182 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.007856607437133789s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993374642..1.000000000624963，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0016392091852805142m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.4650155744974281deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=274 duration=6.85s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=274，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 274，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=273，rows=274，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=274，monotonic违规=0，估算频率=40.03042883868483Hz，最大间隔=0.029897937s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 274，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03042981892912 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03042981892912 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.029898141s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 411，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 47.4088..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 411，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.9998793680474 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.9998793680474 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020938462s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=411，bad_rows=0，monotonic违规=0，估算频率=59.999875144650055Hz，最大间隔=0.020940592s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 274，metadata 273\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 411，metadata 411\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 274，timestamps 274，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=274，timestamps=274，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.030s，video=6.85s，timestamps=6.819811858999999s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.014s，camera=6.819811858999999s，clamp=6.833347072000001s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822766859894777，pi_T0=1792822766859894777，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822773703521218，pi_Tstop=1792822773703521218，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.014522s，first=1792822766874416931，T0=1792822766859894777，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.009521s，first=1792822766869415623，T0=1792822766859894777，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.009292s，last=1792822773694228790，Tstop=1792822773703521218，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000759s，last=1792822773702762695，Tstop=1792822773703521218，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.010053s，vive=6.829864719s，camera=6.819811858999999s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.003482s，vive=6.829864719s，clamp=6.833347072000001s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.004506s，vive_first=1792822766869910661，camera_first=1792822766874416931，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.000495s，vive_first=1792822766869910661，clamp_first=1792822766869415623，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.005547s，vive_last=1792822773699775380，camera_last=1792822773694228790，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.002987s，vive_last=1792822773699775380，clamp_last=1792822773702762695，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141923_00040_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141923_00040_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141923_00040\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822766859894777\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822766859894777，vive_T0=1792822766859894777，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822773703521218，vive_Tstop=1792822773703521218，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.010016s，first=1792822766869910661，T0=1792822766859894777，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003746s，last=1792822773699775380，Tstop=1792822773703521218，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1367\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.0039614547452 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.0039614547452 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1367，metadata 1367\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00396082890182 Hz，最低 150.0 Hz，时长 6.829864740371704 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00396082890182 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.007856607437133789s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993647245..1.0000000006008463，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0026168642965690805m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.5618809330292638deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=274 duration=6.85s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=274，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 274，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=273，rows=274，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=274，monotonic违规=0，估算频率=40.023864327332234Hz，最大间隔=0.033095703s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 274，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.02386442708485 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02386442708485 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033095647s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 411，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 411，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.999952816622454 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999952816622454 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020667703s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=411，bad_rows=0，monotonic违规=0，估算频率=59.99994793467933Hz，最大间隔=0.020668055s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 274，metadata 274\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 411，metadata 411\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 274，timestamps 274，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=274，timestamps=274，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.029s，video=6.85s，timestamps=6.820930560000001s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.012s，camera=6.820930560000001s，clamp=6.833338707000002s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822766859894777，pi_T0=1792822766859894777，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822773703521218，pi_Tstop=1792822773703521218，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.019214s，first=1792822766879108853，T0=1792822766859894777，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.008219s，first=1792822766868113742，T0=1792822766859894777，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.003482s，last=1792822773700039413，Tstop=1792822773703521218，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.002069s，last=1792822773701452449，Tstop=1792822773703521218，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.008934s，vive=6.829864719s，camera=6.820930560000001s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.003474s，vive=6.829864719s，clamp=6.833338707000002s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.009198s，vive_first=1792822766869910661，camera_first=1792822766879108853，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.001797s，vive_first=1792822766869910661，clamp_first=1792822766868113742，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.000264s，vive_last=1792822773699775380，camera_last=1792822773700039413，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.001677s，vive_last=1792822773699775380，clamp_last=1792822773701452449，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141923_00040_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141923_00040\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822766859894777\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822766859894777，vive_T0=1792822766859894777，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822773703521218，vive_Tstop=1792822773703521218，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.010016s，first=1792822766869910661，T0=1792822766859894777，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003746s，last=1792822773699775380，Tstop=1792822773703521218，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1367\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.0039614547452 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.0039614547452 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1367，metadata 1367\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00396082890182 Hz，最低 150.0 Hz，时长 6.829864740371704 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00396082890182 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.007856607437133789s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993374642..1.000000000624963，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0016392091852805142m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.4650155744974281deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=274 duration=6.85s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=274，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 274，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=273，rows=274，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=274，monotonic违规=0，估算频率=40.03042883868483Hz，最大间隔=0.029897937s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 274，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03042981892912 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03042981892912 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.029898141s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 411，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 47.4088..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 411，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.9998793680474 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.9998793680474 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020938462s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=411，bad_rows=0，monotonic违规=0，估算频率=59.999875144650055Hz，最大间隔=0.020940592s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 274，metadata 273\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 411，metadata 411\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 274，timestamps 274，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=274，timestamps=274，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.030s，video=6.85s，timestamps=6.819811858999999s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.014s，camera=6.819811858999999s，clamp=6.833347072000001s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822766859894777，pi_T0=1792822766859894777，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822773703521218，pi_Tstop=1792822773703521218，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.014522s，first=1792822766874416931，T0=1792822766859894777，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.009521s，first=1792822766869415623，T0=1792822766859894777，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.009292s，last=1792822773694228790，Tstop=1792822773703521218，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000759s，last=1792822773702762695，Tstop=1792822773703521218，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.010053s，vive=6.829864719s，camera=6.819811858999999s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.003482s，vive=6.829864719s，clamp=6.833347072000001s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.004506s，vive_first=1792822766869910661，camera_first=1792822766874416931，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.000495s，vive_first=1792822766869910661，clamp_first=1792822766869415623，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.005547s，vive_last=1792822773699775380，camera_last=1792822773694228790，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.002987s，vive_last=1792822773699775380，clamp_last=1792822773702762695，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141923_00040_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141923_00040/control/stop_left_hand.flag b/stack the blocks/session_20261024_141923_00040/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..d0c10a32eb7b9659aaf9d32a6d10f709100c01c5 --- /dev/null +++ b/stack the blocks/session_20261024_141923_00040/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822773703521218 \ No newline at end of file diff --git a/stack the blocks/session_20261024_141923_00040/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the blocks/session_20261024_141923_00040/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 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blocks/session_20261024_141923_00040/left_hand/Metadata/metadata.json @@ -0,0 +1,343 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "raspberry_pi_capture", + "created_time_ns": 1792822773712397413, + "platform": { + "system": "Linux", + "release": "6.18.34+rpt-rpi-2712", + "machine": "aarch64" + }, + "paths": { + "run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand", + "rgb_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand/RGB_Images", + "clamp_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Clamp_Data", + "metadata_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Metadata", + "video_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand/RGB_Images/video.mp4", + "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand/RGB_Images/timestamps.csv", + "clamp_data_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Clamp_Data/clamp_data_tum.txt", + "metadata_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Metadata/metadata.json", + "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Clamp_Data/clamp_timebase.csv" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/TeleUMI", + "pi_data_root": "/home/zhang/TeleUMI/datasets" + }, + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "pi_standby": { + "enabled": true, 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"hand_name": "left_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822766859894777, 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"camera_stopped_time_ns": 1792822773710241183, + "camera_actual_fps": 29.018193928793153, + "camera_first_frame_time_ns": 1792822766879108853, + "camera_last_frame_time_ns": 1792822773700039413, + "camera_frame_timestamp_fps": 40.02386442708486, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822773700039413, + "capture_count": 378, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 411, + "clamp_first_sample_time_ns": 1792822766868113742, + "clamp_last_sample_time_ns": 1792822773701452449, + "clamp_actual_hz": 59.99995281662247, + "clamp_value_min": 100.0, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 212, + "read_count": 1519, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1681 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141923_00040/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141923_00040/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ad38ffdcc2571d9ae3064c1cc8e225b50ccad035 --- /dev/null +++ b/stack the blocks/session_20261024_141923_00040/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822763372419204, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_141923_00040", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + 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"max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141911_00039", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141911_00039", + "--control-generation", + "39", + "--ready-token", + "019452cf05c542f28f6fd3a3b8aae211", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822763372952251, + "ended_time_ns": 1792822763390616344, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.diagnostics.json", + "capture_start_time_ns": 1792822754670853292, + "capture_stop_time_ns": 1792822760382461673, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141911_00039/left_hand", + "timing": { + "server_start_request_time_ns": 1792822751102461982, + "subprocess_popen_time_ns": 1792822751107232714, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822751142409593, + "validate_start_time_ns": 1792822752195270331, + "session_dir_create_start_time_ns": 1792822751143503522, + "session_dir_create_end_time_ns": 1792822751145146445, + "as5600_init_start_time_ns": 1792822751146174412, + "as5600_init_end_time_ns": 1792822751146975253, + "as5600_zero_start_time_ns": 1792822751148280236, + "as5600_zero_end_time_ns": 1792822751954073522, + "camera_init_start_time_ns": 1792822751955747647, + "camera_init_end_time_ns": 1792822751957841693, + "camera_start_start_time_ns": 1792822751959065454, + "camera_start_end_time_ns": 1792822751977569816, + "camera_first_frame_wait_start_time_ns": 1792822751980920623, + "camera_first_frame_wait_end_time_ns": 1792822751982887393, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822751986944246, + "armed_time_ns": 1792822752194317529, + "waiting_t0_time_ns": 1792822752196632424, + "recording_start_time_ns": 1792822754671006477, + "stop_request_time_ns": 1792822759442496431, + "finalized_time_ns": 1792822760388767530 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822762977608784, + "ended_time_ns": 1792822762979064764, + "duration_s": 0.00145598, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822762977692579, + "ended_time_ns": 1792822762977936483, + "duration_s": 0.000243904, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822762977695968, + "ok": true, + "ended_time_ns": 1792822762977703430, + "duration_s": 7.462e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822762977704449, + "ok": true, + "ended_time_ns": 1792822762977707153, + "duration_s": 2.704e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822762977707745, + "ok": true, + "ended_time_ns": 1792822762977710875, + "duration_s": 3.13e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822762977711245, + "ok": true, + "ended_time_ns": 1792822762977923409, + "duration_s": 0.000212164 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822762977925390, + "ok": true, + "ended_time_ns": 1792822762977929816, + "duration_s": 4.426e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822762977930464, + "ok": true, + "ended_time_ns": 1792822762977933279, + "duration_s": 2.815e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822762977933668, + "ok": true, + "ended_time_ns": 1792822762977936020, + "duration_s": 2.352e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822762978847304, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822762931988305, + "frame_age_s": 0.046902721, + "heartbeat_age_s": 0.038861828, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822762978896451, + "duration_s": 4.9147e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822762978899137, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 102.3046875, + "sample_observed_time_ns": 1792822762934780453, + "sample_age_s": 0.044128258, + "heartbeat_age_s": 0.038898198, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822762978913359, + "duration_s": 1.4222e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822762978914951, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822762978918210, + "duration_s": 3.259e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822762978919599, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822762979063116, + "duration_s": 0.000143517 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 39, + "ready_token": "019452cf05c542f28f6fd3a3b8aae211", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "arm_request_id": "b537f99fe453483ebb94454f0958629a", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2178, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 39, + "last_bootstrap_time_ns": 1792822760390005736, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822762931988305, + "capture_count": 440, + "capture_error_count": 0, + "writer_count": 228, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.3046875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 154, + "max_queue_depth": 212, + "read_count": 873, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822762934780453, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822762940004253 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822762684583227, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7841, + "displayed_count": 7633, + "dropped_count": 207, + "decode_error_count": 0, + "last_receive_time_ns": 1792822762613495387, + "last_frame_time_ns": 1792822762590969487, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 39, + "last_bootstrap_time_ns": 1792822760390005736, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822762931988305, + "capture_count": 440, + "capture_error_count": 0, + "writer_count": 228, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.3046875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 154, + "max_queue_depth": 212, + "read_count": 873, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822762934780453, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822762940004253 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 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15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822763393972000, + "ended_time_ns": 1792822763403818323, + "duration_s": 0.000230589, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + 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"tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822763393648333, + "ended_time_ns": 1792822763393878922, + "duration_s": 0.000230589, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822763393652314, + "ok": true, + "ended_time_ns": 1792822763393660629, + "duration_s": 8.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822763393662703, + "ok": true, + "ended_time_ns": 1792822763393665147, + "duration_s": 2.444e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822763393665722, + "ok": true, + "ended_time_ns": 1792822763393668684, + "duration_s": 2.962e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822763393669055, + "ok": true, + "ended_time_ns": 1792822763393863552, + "duration_s": 0.000194497 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822763393864885, + "ok": true, + "ended_time_ns": 1792822763393869200, + "duration_s": 4.315e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822763393869830, + "ok": true, + "ended_time_ns": 1792822763393875830, + "duration_s": 6e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822763393876237, + "ok": true, + "ended_time_ns": 1792822763393878533, + "duration_s": 2.296e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": 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"0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + 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"timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 40, + "ready_token": "741b286b9733446d8dc22ccc234517c2", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2179, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 39, + "last_bootstrap_time_ns": 1792822760390005736, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822762931988305, + "capture_count": 440, + "capture_error_count": 0, + "writer_count": 228, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.3046875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 154, + "max_queue_depth": 212, + "read_count": 873, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822762934780453, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822762940004253 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822762684583227, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7841, + "displayed_count": 7633, + "dropped_count": 207, + "decode_error_count": 0, + "last_receive_time_ns": 1792822762613495387, + "last_frame_time_ns": 1792822762590969487, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 39, + "last_bootstrap_time_ns": 1792822760390005736, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822762931988305, + "capture_count": 440, + "capture_error_count": 0, + "writer_count": 228, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.3046875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 154, + "max_queue_depth": 212, + "read_count": 873, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822762934780453, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822762940004253 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822763407721900, + "ended_time_ns": 1792822763431097574 + }, + "pi_start_request_time_ns": 1792822763431105992, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822763434687832, + "capture_start_time_ns": 1792822766859894777, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822772830281267, + "capture_stop_time_ns": 1792822773703521218, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141923_00040", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141923_00040", + "--control-generation", + "40", + "--ready-token", + "741b286b9733446d8dc22ccc234517c2", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822763413825043, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "capture_start_time_ns": 1792822766859894777, + "capture_stop_time_ns": 1792822773703521218, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand", + "timing": { + "server_start_request_time_ns": 1792822763409207883, + "subprocess_popen_time_ns": 1792822763413825043, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822763449604839, + "validate_start_time_ns": 1792822764387066631, + "session_dir_create_start_time_ns": 1792822763450345903, + "session_dir_create_end_time_ns": 1792822763451247595, + "as5600_init_start_time_ns": 1792822763454274702, + "as5600_init_end_time_ns": 1792822763455667572, + "as5600_zero_start_time_ns": 1792822763457798970, + "as5600_zero_end_time_ns": 1792822764264307672, + "camera_init_start_time_ns": 1792822764265792244, + "camera_init_end_time_ns": 1792822764267893457, + "camera_start_start_time_ns": 1792822764287704912, + "camera_start_end_time_ns": 1792822764289540462, + "camera_first_frame_wait_start_time_ns": 1792822764294379248, + "camera_first_frame_wait_end_time_ns": 1792822764296057041, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822764297484429, + "armed_time_ns": 1792822764384199854, + "waiting_t0_time_ns": 1792822764388526574, + "recording_start_time_ns": 1792822766863654598, + "stop_request_time_ns": 1792822772830736611, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822763393648333, + "ended_time_ns": 1792822763393878922, + "duration_s": 0.000230589, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822763393652314, + "ok": true, + "ended_time_ns": 1792822763393660629, + "duration_s": 8.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822763393662703, + "ok": true, + "ended_time_ns": 1792822763393665147, + "duration_s": 2.444e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822763393665722, + "ok": true, + "ended_time_ns": 1792822763393668684, + "duration_s": 2.962e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822763393669055, + "ok": true, + "ended_time_ns": 1792822763393863552, + "duration_s": 0.000194497 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822763393864885, + "ok": true, + "ended_time_ns": 1792822763393869200, + "duration_s": 4.315e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822763393869830, + "ok": true, + "ended_time_ns": 1792822763393875830, + "duration_s": 6e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822763393876237, + "ok": true, + "ended_time_ns": 1792822763393878533, + "duration_s": 2.296e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 40, + "ready_token": "741b286b9733446d8dc22ccc234517c2", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "arm_request_id": "f19b3bfa264a45eeb27ab485147362b6", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2179, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 39, + "last_bootstrap_time_ns": 1792822760390005736, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822763431309289, + "capture_count": 460, + "capture_error_count": 0, + "writer_count": 228, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.3046875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 184, + "max_queue_depth": 212, + "read_count": 903, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822763434779853, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822763446463844 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822772831551126, + "ended_time_ns": 1792822772846715245, + "capture_stop_time_ns": 1792822773703521218, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_141923_00040", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 148349 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 149003 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141637 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 149704 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 149003 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129754 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141923_00040", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141923_00040", + "--control-generation", + "40", + "--ready-token", + "741b286b9733446d8dc22ccc234517c2", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822774732573727, + "ended_time_ns": 1792822774746325752, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "capture_start_time_ns": 1792822766859894777, + "capture_stop_time_ns": 1792822773703521218, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand", + "timing": { + "server_start_request_time_ns": 1792822763409207883, + "subprocess_popen_time_ns": 1792822763413825043, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822763449604839, + "validate_start_time_ns": 1792822764387066631, + "session_dir_create_start_time_ns": 1792822763450345903, + "session_dir_create_end_time_ns": 1792822763451247595, + "as5600_init_start_time_ns": 1792822763454274702, + "as5600_init_end_time_ns": 1792822763455667572, + "as5600_zero_start_time_ns": 1792822763457798970, + "as5600_zero_end_time_ns": 1792822764264307672, + "camera_init_start_time_ns": 1792822764265792244, + "camera_init_end_time_ns": 1792822764267893457, + "camera_start_start_time_ns": 1792822764287704912, + "camera_start_end_time_ns": 1792822764289540462, + "camera_first_frame_wait_start_time_ns": 1792822764294379248, + "camera_first_frame_wait_end_time_ns": 1792822764296057041, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822764297484429, + "armed_time_ns": 1792822764384199854, + "waiting_t0_time_ns": 1792822764388526574, + "recording_start_time_ns": 1792822766863654598, + "stop_request_time_ns": 1792822772837009656, + "finalized_time_ns": 1792822773711803458 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822763393648333, + "ended_time_ns": 1792822763393878922, + "duration_s": 0.000230589, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822763393652314, + "ok": true, + "ended_time_ns": 1792822763393660629, + "duration_s": 8.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822763393662703, + "ok": true, + "ended_time_ns": 1792822763393665147, + "duration_s": 2.444e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822763393665722, + "ok": true, + "ended_time_ns": 1792822763393668684, + "duration_s": 2.962e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822763393669055, + "ok": true, + "ended_time_ns": 1792822763393863552, + "duration_s": 0.000194497 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822763393864885, + "ok": true, + "ended_time_ns": 1792822763393869200, + "duration_s": 4.315e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822763393869830, + "ok": true, + "ended_time_ns": 1792822763393875830, + "duration_s": 6e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822763393876237, + "ok": true, + "ended_time_ns": 1792822763393878533, + "duration_s": 2.296e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 40, + "ready_token": "741b286b9733446d8dc22ccc234517c2", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "arm_request_id": "f19b3bfa264a45eeb27ab485147362b6", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2179, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774522221829, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822774524837591, + "capture_count": 411, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.326171875, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822774520275967, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822774526052056 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + 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"preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822766859894777, + "capture_stop_time_ns": 1792822773703521218, + "effective_capture_stop_time_ns": 1792822773703521218, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_141923_00040", + "control_generation": 40, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822766859894777, + "capture_stop_time_ns": 1792822773703521218 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 280.01953125, + "reference_source": "max_open_init", + "zero_angle_deg": 280.01953125, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 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"Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 411, + "clamp_first_sample_time_ns": 1792822766869415623, + "clamp_last_sample_time_ns": 1792822773702762695, + "clamp_actual_hz": 59.99987936804742, + "clamp_value_min": 47.40881122928086, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 207, + "read_count": 799, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1704 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141923_00040/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141923_00040/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b2a7cd5571a18e1ec43dc99a4e87db5c5cd3def3 --- /dev/null +++ b/stack the blocks/session_20261024_141923_00040/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822763352953315, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_141923_00040", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141923_00040/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + 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+ "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822763132062849, + "ok": true, + "ended_time_ns": 1792822763132070534, + "duration_s": 7.685e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822763132071497, + "ok": true, + "ended_time_ns": 1792822763132074497, + "duration_s": 3e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822763132074997, + "ok": true, + "ended_time_ns": 1792822763132078071, + "duration_s": 3.074e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822763132078441, + "ok": true, + "ended_time_ns": 1792822763132252588, + "duration_s": 0.000174147 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822763132253495, + "ok": true, + "ended_time_ns": 1792822763132256514, + "duration_s": 3.019e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822763132257162, + "ok": true, + "ended_time_ns": 1792822763132259477, + "duration_s": 2.315e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822763132259847, + "ok": true, + "ended_time_ns": 1792822763132261310, + "duration_s": 1.463e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822763132869027, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822762726403496, + "frame_age_s": 0.406492179, + "heartbeat_age_s": 0.390775318, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822763132899953, + "duration_s": 3.0926e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822763132901675, + "status_ok": true, + "gap_mm": 84.83685215162367, + "reference_angle_deg": 280.107421875, + "sample_observed_time_ns": 1792822762736086077, + "sample_age_s": 0.396822301, + "heartbeat_age_s": 0.390800225, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822763132911397, + "duration_s": 9.722e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822763132912397, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822763132914564, + "duration_s": 2.167e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822763132915693, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822763133011655, + "duration_s": 9.5962e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 39, + "ready_token": "a710c9a72952496b89417889a374ccfb", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141911_00039.ready.json", + "arm_request_id": "b537f99fe453483ebb94454f0958629a", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3006, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 39, + "last_bootstrap_time_ns": 1792822761204679595, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822763226046012, + "capture_count": 447, + "capture_error_count": 0, + "writer_count": 227, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.107421875, + "gripper_gap_mm": 84.83685215162367, + "status_ok": true, + "queue_size": 600, + "queue_depth": 171, + "max_queue_depth": 171, + "read_count": 171, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822763237857315, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822763247074159 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822762891426435, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7354, + "displayed_count": 5780, + "dropped_count": 1573, + "decode_error_count": 0, + "last_receive_time_ns": 1792822762780882141, + "last_frame_time_ns": 1792822762811689811, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 39, + "last_bootstrap_time_ns": 1792822761204679595, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822763226046012, + "capture_count": 447, + "capture_error_count": 0, + "writer_count": 227, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.107421875, + "gripper_gap_mm": 84.83685215162367, + "status_ok": true, + "queue_size": 600, + "queue_depth": 171, + "max_queue_depth": 171, + "read_count": 171, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822763237857315, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822763247074159 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822763369810739, + "ended_time_ns": 1792822763377174958, + "duration_s": 0.000210202, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822763371370645, + "ok": true, + "ended_time_ns": 1792822763371378163, + "duration_s": 7.518e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822763371380182, + "ok": true, + "ended_time_ns": 1792822763371383256, + "duration_s": 3.074e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822763371383812, + "ok": true, + "ended_time_ns": 1792822763371387478, + "duration_s": 3.666e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822763371387849, + "ok": true, + "ended_time_ns": 1792822763371566717, + "duration_s": 0.000178868 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822763371567865, + "ok": true, + "ended_time_ns": 1792822763371571254, + "duration_s": 3.389e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822763371571884, + "ok": true, + "ended_time_ns": 1792822763371574717, + "duration_s": 2.833e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822763371575069, + "ok": true, + "ended_time_ns": 1792822763371576921, + "duration_s": 1.852e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141923_00040", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141923_00040", + "--control-generation", + "40", + "--ready-token", + "810b9cef9c1344e897a400e996cdbb0a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822763388207866, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/right_hand", + "timing": { + "server_start_request_time_ns": 1792822763383971625, + "subprocess_popen_time_ns": 1792822763388207866, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822763371367256, + "ended_time_ns": 1792822763371577458, + "duration_s": 0.000210202, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822763371370645, + "ok": true, + "ended_time_ns": 1792822763371378163, + "duration_s": 7.518e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822763371380182, + "ok": true, + "ended_time_ns": 1792822763371383256, + "duration_s": 3.074e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822763371383812, + "ok": true, + "ended_time_ns": 1792822763371387478, + "duration_s": 3.666e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822763371387849, + "ok": true, + "ended_time_ns": 1792822763371566717, + "duration_s": 0.000178868 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822763371567865, + "ok": true, + "ended_time_ns": 1792822763371571254, + "duration_s": 3.389e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822763371571884, + "ok": true, + "ended_time_ns": 1792822763371574717, + "duration_s": 2.833e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822763371575069, + "ok": true, + "ended_time_ns": 1792822763371576921, + "duration_s": 1.852e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 40, + "ready_token": "810b9cef9c1344e897a400e996cdbb0a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3007, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 39, + "last_bootstrap_time_ns": 1792822761204679595, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822763226046012, + "capture_count": 447, + "capture_error_count": 0, + "writer_count": 227, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.107421875, + "gripper_gap_mm": 84.83685215162367, + "status_ok": true, + "queue_size": 600, + "queue_depth": 171, + "max_queue_depth": 171, + "read_count": 171, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822763237857315, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822763247074159 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822762891426435, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7354, + "displayed_count": 5780, + "dropped_count": 1573, + "decode_error_count": 0, + "last_receive_time_ns": 1792822762780882141, + "last_frame_time_ns": 1792822762811689811, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141911_00039", + "generation": 39, + "session_count": 39, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 39, + "last_bootstrap_time_ns": 1792822761204679595, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822763226046012, + "capture_count": 447, + "capture_error_count": 0, + "writer_count": 227, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.107421875, + "gripper_gap_mm": 84.83685215162367, + "status_ok": true, + "queue_size": 600, + "queue_depth": 171, + "max_queue_depth": 171, + "read_count": 171, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822763237857315, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822763247074159 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822763380436997, + "ended_time_ns": 1792822763398899343 + }, + "pi_start_request_time_ns": 1792822763398906518, + "capture_start_time_ns": 1792822766859894777, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822772725578446, + "capture_stop_time_ns": 1792822773703521218, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141923_00040", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141923_00040", + "--control-generation", + "40", + "--ready-token", + "810b9cef9c1344e897a400e996cdbb0a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822763388207866, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "capture_start_time_ns": 1792822766859894777, + "capture_stop_time_ns": 1792822773703521218, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/right_hand", + "timing": { + "server_start_request_time_ns": 1792822763383971625, + "subprocess_popen_time_ns": 1792822763388207866, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822763408989532, + "validate_start_time_ns": 1792822764456106972, + "session_dir_create_start_time_ns": 1792822763410182429, + "session_dir_create_end_time_ns": 1792822763411912618, + "as5600_init_start_time_ns": 1792822763412986515, + "as5600_init_end_time_ns": 1792822763414519168, + "as5600_zero_start_time_ns": 1792822763415874008, + "as5600_zero_end_time_ns": 1792822764222799919, + "camera_init_start_time_ns": 1792822764260480547, + "camera_init_end_time_ns": 1792822764262302679, + "camera_start_start_time_ns": 1792822764263157653, + "camera_start_end_time_ns": 1792822764264512770, + "camera_first_frame_wait_start_time_ns": 1792822764266242162, + "camera_first_frame_wait_end_time_ns": 1792822764268116164, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822764269304913, + "armed_time_ns": 1792822764382227537, + "waiting_t0_time_ns": 1792822764458028677, + "recording_start_time_ns": 1792822766860500906, + "stop_request_time_ns": 1792822772729342136, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822763371367256, + "ended_time_ns": 1792822763371577458, + "duration_s": 0.000210202, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822763371370645, + "ok": true, + "ended_time_ns": 1792822763371378163, + "duration_s": 7.518e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822763371380182, + "ok": true, + "ended_time_ns": 1792822763371383256, + "duration_s": 3.074e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822763371383812, + "ok": true, + "ended_time_ns": 1792822763371387478, + "duration_s": 3.666e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822763371387849, + "ok": true, + "ended_time_ns": 1792822763371566717, + "duration_s": 0.000178868 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822763371567865, + "ok": true, + "ended_time_ns": 1792822763371571254, + "duration_s": 3.389e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822763371571884, + "ok": true, + "ended_time_ns": 1792822763371574717, + "duration_s": 2.833e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822763371575069, + "ok": true, + "ended_time_ns": 1792822763371576921, + "duration_s": 1.852e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 40, + "ready_token": "810b9cef9c1344e897a400e996cdbb0a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "arm_request_id": "f19b3bfa264a45eeb27ab485147362b6", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3007, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 39, + "last_bootstrap_time_ns": 1792822761204679595, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822763400928141, + "capture_count": 454, + "capture_error_count": 0, + "writer_count": 227, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.107421875, + "gripper_gap_mm": 84.83685215162367, + "status_ok": true, + "queue_size": 600, + "queue_depth": 180, + "max_queue_depth": 180, + "read_count": 180, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822763386091181, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822763403076196 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822772726626908, + "ended_time_ns": 1792822772739124072, + "capture_stop_time_ns": 1792822773703521218, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141923_00040", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141923_00040", + "--control-generation", + "40", + "--ready-token", + "810b9cef9c1344e897a400e996cdbb0a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822774776381777, + "ended_time_ns": 1792822774788620657, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "capture_start_time_ns": 1792822766859894777, + "capture_stop_time_ns": 1792822773703521218, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/right_hand", + "timing": { + "server_start_request_time_ns": 1792822763383971625, + "subprocess_popen_time_ns": 1792822763388207866, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822763408989532, + "validate_start_time_ns": 1792822764456106972, + "session_dir_create_start_time_ns": 1792822763410182429, + "session_dir_create_end_time_ns": 1792822763411912618, + "as5600_init_start_time_ns": 1792822763412986515, + "as5600_init_end_time_ns": 1792822763414519168, + "as5600_zero_start_time_ns": 1792822763415874008, + "as5600_zero_end_time_ns": 1792822764222799919, + "camera_init_start_time_ns": 1792822764260480547, + "camera_init_end_time_ns": 1792822764262302679, + "camera_start_start_time_ns": 1792822764263157653, + "camera_start_end_time_ns": 1792822764264512770, + "camera_first_frame_wait_start_time_ns": 1792822764266242162, + "camera_first_frame_wait_end_time_ns": 1792822764268116164, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822764269304913, + "armed_time_ns": 1792822764382227537, + "waiting_t0_time_ns": 1792822764458028677, + "recording_start_time_ns": 1792822766860500906, + "stop_request_time_ns": 1792822772731781707, + "finalized_time_ns": 1792822773708975047 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822763371367256, + "ended_time_ns": 1792822763371577458, + "duration_s": 0.000210202, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822763371370645, + "ok": true, + "ended_time_ns": 1792822763371378163, + "duration_s": 7.518e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822763371380182, + "ok": true, + "ended_time_ns": 1792822763371383256, + "duration_s": 3.074e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822763371383812, + "ok": true, + "ended_time_ns": 1792822763371387478, + "duration_s": 3.666e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822763371387849, + "ok": true, + "ended_time_ns": 1792822763371566717, + "duration_s": 0.000178868 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822763371567865, + "ok": true, + "ended_time_ns": 1792822763371571254, + "duration_s": 3.389e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822763371571884, + "ok": true, + "ended_time_ns": 1792822763371574717, + "duration_s": 2.833e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822763371575069, + "ok": true, + "ended_time_ns": 1792822763371576921, + "duration_s": 1.852e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 40, + "ready_token": "810b9cef9c1344e897a400e996cdbb0a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "arm_request_id": "f19b3bfa264a45eeb27ab485147362b6", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3007, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774525584668, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822774519481019, + "capture_count": 411, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.84375, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822774523649019, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822774529323968 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 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--. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 40, + "ready_token": "741b286b9733446d8dc22ccc234517c2", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "arm_request_id": "f19b3bfa264a45eeb27ab485147362b6", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2179, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774522221829, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822776024409799, + "capture_count": 471, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.326171875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822776036970389, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822776043662947 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822775336650999, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7950, + "displayed_count": 7737, + "dropped_count": 213, + "decode_error_count": 0, + "last_receive_time_ns": 1792822775232734231, + "last_frame_time_ns": 1792822775330680635, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774522221829, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822776024409799, + "capture_count": 471, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.326171875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822776036970389, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822776043662947 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822776309668990, + "ended_time_ns": 1792822776319370388, + "duration_s": 0.001108411, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822776309058561, + "ended_time_ns": 1792822776309267447, + "duration_s": 0.000208886, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822776309061987, + "ok": true, + "ended_time_ns": 1792822776309069764, + "duration_s": 7.777e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822776309070894, + "ok": true, + "ended_time_ns": 1792822776309073413, + "duration_s": 2.519e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822776309073913, + "ok": true, + "ended_time_ns": 1792822776309077135, + "duration_s": 3.222e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822776309077505, + "ok": true, + "ended_time_ns": 1792822776309257169, + "duration_s": 0.000179664 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822776309258280, + "ok": true, + "ended_time_ns": 1792822776309261429, + "duration_s": 3.149e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822776309261929, + "ok": true, + "ended_time_ns": 1792822776309264799, + "duration_s": 2.87e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822776309265206, + "ok": true, + "ended_time_ns": 1792822776309267040, + "duration_s": 1.834e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822776309925568, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822776024409799, + "frame_age_s": 0.285545879, + "heartbeat_age_s": 0.266275565, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822776309960030, + "duration_s": 3.4462e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822776309962030, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 104.326171875, + "sample_observed_time_ns": 1792822776036970389, + "sample_age_s": 0.272999474, + "heartbeat_age_s": 0.266301768, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822776309973623, + "duration_s": 1.1593e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822776309978030, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822776310082751, + "duration_s": 0.000104721 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822776319382875, + "ended_time_ns": 1792822776411829274, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141923_00040", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141923_00040", + "--control-generation", + "40", + "--ready-token", + "810b9cef9c1344e897a400e996cdbb0a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822776411846440, + "ended_time_ns": 1792822776423583640, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "capture_start_time_ns": 1792822766859894777, + "capture_stop_time_ns": 1792822773703521218, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/right_hand", + "timing": { + "server_start_request_time_ns": 1792822763383971625, + "subprocess_popen_time_ns": 1792822763388207866, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822763408989532, + "validate_start_time_ns": 1792822764456106972, + "session_dir_create_start_time_ns": 1792822763410182429, + "session_dir_create_end_time_ns": 1792822763411912618, + "as5600_init_start_time_ns": 1792822763412986515, + "as5600_init_end_time_ns": 1792822763414519168, + "as5600_zero_start_time_ns": 1792822763415874008, + "as5600_zero_end_time_ns": 1792822764222799919, + "camera_init_start_time_ns": 1792822764260480547, + "camera_init_end_time_ns": 1792822764262302679, + "camera_start_start_time_ns": 1792822764263157653, + "camera_start_end_time_ns": 1792822764264512770, + "camera_first_frame_wait_start_time_ns": 1792822764266242162, + "camera_first_frame_wait_end_time_ns": 1792822764268116164, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822764269304913, + "armed_time_ns": 1792822764382227537, + "waiting_t0_time_ns": 1792822764458028677, + "recording_start_time_ns": 1792822766860500906, + "stop_request_time_ns": 1792822772731781707, + "finalized_time_ns": 1792822773708975047 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822763371367256, + "ended_time_ns": 1792822763371577458, + "duration_s": 0.000210202, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822763371370645, + "ok": true, + "ended_time_ns": 1792822763371378163, + "duration_s": 7.518e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822763371380182, + "ok": true, + "ended_time_ns": 1792822763371383256, + "duration_s": 3.074e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822763371383812, + "ok": true, + "ended_time_ns": 1792822763371387478, + "duration_s": 3.666e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822763371387849, + "ok": true, + "ended_time_ns": 1792822763371566717, + "duration_s": 0.000178868 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822763371567865, + "ok": true, + "ended_time_ns": 1792822763371571254, + "duration_s": 3.389e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822763371571884, + "ok": true, + "ended_time_ns": 1792822763371574717, + "duration_s": 2.833e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822763371575069, + "ok": true, + "ended_time_ns": 1792822763371576921, + "duration_s": 1.852e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 40, + "ready_token": "810b9cef9c1344e897a400e996cdbb0a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "arm_request_id": "f19b3bfa264a45eeb27ab485147362b6", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3007, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774525584668, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822776044807184, + "capture_count": 472, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.84375, + "gripper_gap_mm": 84.34740860649472, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822776040332631, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822776049157257 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822775760633195, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7469, + "displayed_count": 5855, + "dropped_count": 1613, + "decode_error_count": 0, + "last_receive_time_ns": 1792822775734303596, + "last_frame_time_ns": 1792822775760558381, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774525584668, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822776044807184, + "capture_count": 472, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.84375, + "gripper_gap_mm": 84.34740860649472, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + 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adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System 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= measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + 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2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + 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estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822776446781183, + "ended_time_ns": 1792822776455037976, + "duration_s": 0.00105962, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822776448684516, + "ended_time_ns": 1792822776448902810, + "duration_s": 0.000218294, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822776448687997, + "ok": true, + "ended_time_ns": 1792822776448707515, + "duration_s": 1.9518e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822776448708682, + "ok": true, + "ended_time_ns": 1792822776448711830, + "duration_s": 3.148e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822776448712256, + "ok": true, + "ended_time_ns": 1792822776448715682, + "duration_s": 3.426e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822776448716015, + "ok": true, + "ended_time_ns": 1792822776448893366, + "duration_s": 0.000177351 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822776448894329, + "ok": true, + "ended_time_ns": 1792822776448897254, + "duration_s": 2.925e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822776448897810, + "ok": true, + "ended_time_ns": 1792822776448900162, + "duration_s": 2.352e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822776448900625, + "ok": true, + "ended_time_ns": 1792822776448902254, + "duration_s": 1.629e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822776449520693, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822776044807184, + "frame_age_s": 0.404740417, + "heartbeat_age_s": 0.40037451, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822776449551415, + "duration_s": 3.0722e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822776449553026, + "status_ok": true, + "gap_mm": 84.34740860649472, + "reference_angle_deg": 279.84375, + "sample_observed_time_ns": 1792822776040332631, + "sample_age_s": 0.409227432, + "heartbeat_age_s": 0.400398529, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822776449563193, + "duration_s": 1.0167e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822776449567600, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822776449662618, + "duration_s": 9.5018e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822776455061496, + "ended_time_ns": 1792822776550966043, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823129722725366, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823124840107826, + "ended_time_ns": 1792823124853460437, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823124853528342, + "ended_time_ns": 1792823124907300467, + "transferred_bytes": 13688, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,688 bytes\nTotal transferred file size: 13,688 bytes\nLiteral data: 13,688 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,824\n\nsent 46 bytes received 13,824 bytes 27,740.00 bytes/sec\ntotal size is 13,688 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823124907487413, + "ended_time_ns": 1792823129721194759, + "transferred_bytes": 5792424, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 5,792,424 bytes\nTotal transferred file size: 5,792,424 bytes\nLiteral data: 5,792,424 bytes\nMatched data: 0 bytes\nFile list size: 228\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 5,794,250\n\nsent 168 bytes received 5,794,250 bytes 1,053,530.55 bytes/sec\ntotal size is 5,792,424 speedup is 1.00" + } + ], + "transferred_bytes": 5806112, + "copied_local_bytes": 6217903, + "started_time_ns": 1792823124839519692, + "ended_time_ns": 1792823129721761079 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823124840272210, + "ended_time_ns": 1792823124854851792, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823124854923492, + "ended_time_ns": 1792823124898765022, + "transferred_bytes": 13699, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,699 bytes\nTotal transferred file size: 13,699 bytes\nLiteral data: 13,699 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,835\n\nsent 46 bytes received 13,835 bytes 27,762.00 bytes/sec\ntotal size is 13,699 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823124898975782, + "ended_time_ns": 1792823125553314062, + "transferred_bytes": 7651141, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 7,651,141 bytes\nTotal transferred file size: 7,651,141 bytes\nLiteral data: 7,651,141 bytes\nMatched data: 0 bytes\nFile list size: 219\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 7,653,410\n\nsent 168 bytes received 7,653,410 bytes 5,102,385.33 bytes/sec\ntotal size is 7,651,141 speedup is 1.00" + } + ], + "transferred_bytes": 7664840, + "copied_local_bytes": 8060835, + "started_time_ns": 1792823124839768357, + "ended_time_ns": 1792823125553867743 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_141936_00041", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823376517352191, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823376168515965, + "ended_time_ns": 1792823376517110478, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823376168515965, + "ended_time_ns": 1792823376343549368, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141936_00041", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141936_00041_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141936_00041 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141936_00041_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141936_00041_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141936_00041_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141936_00041\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822780211346450\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822780211346450，vive_T0=1792822780211346450，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822785404409745，vive_Tstop=1792822785404409745，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.009097s，first=1792822780220443193，T0=1792822780211346450，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004244s，last=1792822785400165447，Tstop=1792822785404409745，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1037\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.01072435881233 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.01072435881233 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1037，metadata 1037\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0107222306865 Hz，最低 150.0 Hz，时长 5.179722309112549 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0107222306865 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006406545639038086s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994090796..1.0000000005924925，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0019185070276029738m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.48225658040273767deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=208 duration=5.2s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=208，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 208，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=207，rows=208，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=208，monotonic违规=0，估算频率=40.03730041244967Hz，最大间隔=0.031966496s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 208，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.037301697935646 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.037301697935646 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.031966385s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 312，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 98.4645..99.0403\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 312，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00025053480818 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00025053480818 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021104512s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=312，bad_rows=0，monotonic违规=0，估算频率=60.000262758706974Hz，最大间隔=0.021105513s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 208，metadata 208\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 312，metadata 312\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 208，timestamps 208，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=208，timestamps=208，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.030s，video=5.2s，timestamps=5.1701785889999945s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.013s，camera=5.1701785889999945s，clamp=5.18331169s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822780211346450，pi_T0=1792822780211346450，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822785404409745，pi_Tstop=1792822785404409745，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.010892s，first=1792822780222238288，T0=1792822780211346450，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.008954s，first=1792822780220300518，T0=1792822780211346450，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.011993s，last=1792822785392416877，Tstop=1792822785404409745，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000798s，last=1792822785403612208，Tstop=1792822785404409745，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.009544s，vive=5.179722254s，camera=5.1701785889999945s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.003589s，vive=5.179722254s，clamp=5.18331169s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.001795s，vive_first=1792822780220443193，camera_first=1792822780222238288，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.000143s，vive_first=1792822780220443193，clamp_first=1792822780220300518，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.007749s，vive_last=1792822785400165447，camera_last=1792822785392416877，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.003447s，vive_last=1792822785400165447，clamp_last=1792822785403612208，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141936_00041_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823376343851412, + "ended_time_ns": 1792823376517110478, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141936_00041", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141936_00041_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141936_00041 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141936_00041_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141936_00041_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141936_00041_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141936_00041\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822780211346450\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822780211346450，vive_T0=1792822780211346450，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822785404409745，vive_Tstop=1792822785404409745，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.009097s，first=1792822780220443193，T0=1792822780211346450，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004244s，last=1792822785400165447，Tstop=1792822785404409745，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1037\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.01072435881233 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.01072435881233 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1037，metadata 1037\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0107222306865 Hz，最低 150.0 Hz，时长 5.179722309112549 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0107222306865 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006406545639038086s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994985019..1.000000000500818，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0012450902913776973m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.09213933794332632deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=208 duration=5.2s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=208，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 208，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=207，rows=208，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=208，monotonic违规=0，估算频率=40.027364191234355Hz，最大间隔=0.029851104s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 208，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02736290638645 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02736290638645 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.029851382s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 311，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 48.7524..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 311，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000023674847995 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.000023674847995 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020083655s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=311，bad_rows=0，monotonic违规=0，估算频率=60.00002475484892Hz，最大间隔=0.020083951s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 208，metadata 208\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 311，metadata 311\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 208，timestamps 208，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=208，timestamps=208，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.029s，video=5.2s，timestamps=5.171462344000002s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.005s，camera=5.171462344000002s，clamp=5.166664628000005s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822780211346450，pi_T0=1792822780211346450，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822785404409745，pi_Tstop=1792822785404409745，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.003793s，first=1792822780215139661，T0=1792822780211346450，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.012306s，first=1792822780223652177，T0=1792822780211346450，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.017808s，last=1792822785386602005，Tstop=1792822785404409745，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.014093s，last=1792822785390316805，Tstop=1792822785404409745，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.008260s，vive=5.179722254s，camera=5.171462344000002s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.013058s，vive=5.179722254s，clamp=5.166664628000005s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.005304s，vive_first=1792822780220443193，camera_first=1792822780215139661，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.003209s，vive_first=1792822780220443193，clamp_first=1792822780223652177，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.013563s，vive_last=1792822785400165447，camera_last=1792822785386602005，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.009849s，vive_last=1792822785400165447，clamp_last=1792822785390316805，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141936_00041_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141936_00041_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141936_00041\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822780211346450\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822780211346450，vive_T0=1792822780211346450，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822785404409745，vive_Tstop=1792822785404409745，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.009097s，first=1792822780220443193，T0=1792822780211346450，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004244s，last=1792822785400165447，Tstop=1792822785404409745，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1037\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.01072435881233 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.01072435881233 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1037，metadata 1037\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0107222306865 Hz，最低 150.0 Hz，时长 5.179722309112549 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0107222306865 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006406545639038086s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994090796..1.0000000005924925，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0019185070276029738m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.48225658040273767deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=208 duration=5.2s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=208，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 208，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=207，rows=208，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=208，monotonic违规=0，估算频率=40.03730041244967Hz，最大间隔=0.031966496s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 208，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.037301697935646 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.037301697935646 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.031966385s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 312，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 98.4645..99.0403\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 312，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00025053480818 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00025053480818 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021104512s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=312，bad_rows=0，monotonic违规=0，估算频率=60.000262758706974Hz，最大间隔=0.021105513s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 208，metadata 208\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 312，metadata 312\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 208，timestamps 208，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=208，timestamps=208，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.030s，video=5.2s，timestamps=5.1701785889999945s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.013s，camera=5.1701785889999945s，clamp=5.18331169s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822780211346450，pi_T0=1792822780211346450，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822785404409745，pi_Tstop=1792822785404409745，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.010892s，first=1792822780222238288，T0=1792822780211346450，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.008954s，first=1792822780220300518，T0=1792822780211346450，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.011993s，last=1792822785392416877，Tstop=1792822785404409745，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000798s，last=1792822785403612208，Tstop=1792822785404409745，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.009544s，vive=5.179722254s，camera=5.1701785889999945s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.003589s，vive=5.179722254s，clamp=5.18331169s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.001795s，vive_first=1792822780220443193，camera_first=1792822780222238288，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.000143s，vive_first=1792822780220443193，clamp_first=1792822780220300518，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.007749s，vive_last=1792822785400165447，camera_last=1792822785392416877，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.003447s，vive_last=1792822785400165447，clamp_last=1792822785403612208，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141936_00041_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141936_00041\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822780211346450\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822780211346450，vive_T0=1792822780211346450，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822785404409745，vive_Tstop=1792822785404409745，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.009097s，first=1792822780220443193，T0=1792822780211346450，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004244s，last=1792822785400165447，Tstop=1792822785404409745，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1037\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.01072435881233 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.01072435881233 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1037，metadata 1037\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0107222306865 Hz，最低 150.0 Hz，时长 5.179722309112549 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0107222306865 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006406545639038086s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994985019..1.000000000500818，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0012450902913776973m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.09213933794332632deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=208 duration=5.2s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=208，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 208，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=207，rows=208，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=208，monotonic违规=0，估算频率=40.027364191234355Hz，最大间隔=0.029851104s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 208，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02736290638645 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02736290638645 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.029851382s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 311，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 48.7524..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 311，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000023674847995 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.000023674847995 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020083655s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=311，bad_rows=0，monotonic违规=0，估算频率=60.00002475484892Hz，最大间隔=0.020083951s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 208，metadata 208\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 311，metadata 311\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 208，timestamps 208，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=208，timestamps=208，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.029s，video=5.2s，timestamps=5.171462344000002s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.005s，camera=5.171462344000002s，clamp=5.166664628000005s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822780211346450，pi_T0=1792822780211346450，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822785404409745，pi_Tstop=1792822785404409745，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.003793s，first=1792822780215139661，T0=1792822780211346450，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.012306s，first=1792822780223652177，T0=1792822780211346450，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.017808s，last=1792822785386602005，Tstop=1792822785404409745，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.014093s，last=1792822785390316805，Tstop=1792822785404409745，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.008260s，vive=5.179722254s，camera=5.171462344000002s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.013058s，vive=5.179722254s，clamp=5.166664628000005s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.005304s，vive_first=1792822780220443193，camera_first=1792822780215139661，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.003209s，vive_first=1792822780220443193，clamp_first=1792822780223652177，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.013563s，vive_last=1792822785400165447，camera_last=1792822785386602005，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.009849s，vive_last=1792822785400165447，clamp_last=1792822785390316805，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141936_00041_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141936_00041/control/stop_left_hand.flag b/stack the blocks/session_20261024_141936_00041/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..39538652f78b68b5f01067da94cbc31af71064ba --- /dev/null +++ b/stack the blocks/session_20261024_141936_00041/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822785404409745 \ No newline at end of file diff --git a/stack the blocks/session_20261024_141936_00041/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the 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"init_total_samples": 49, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 5.944e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822780215670395, + "camera_frame_count": 208, + "camera_started_time_ns": 1792822777591765780, + "camera_stopped_time_ns": 1792822785411139422, + "camera_actual_fps": 26.60059609925467, + "camera_first_frame_time_ns": 1792822780222238288, + "camera_last_frame_time_ns": 1792822785392416877, + "camera_frame_timestamp_fps": 40.037301697935604, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822785392416877, + "capture_count": 313, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 312, + "clamp_first_sample_time_ns": 1792822780220300518, + "clamp_last_sample_time_ns": 1792822785403612208, + "clamp_actual_hz": 60.00025053480818, + "clamp_value_min": 98.46449083881112, + "clamp_value_max": 99.04030677425695, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 210, + "read_count": 702, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1374 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e0a75cf82e796e5d44b2850d877150bef2f27a1f --- /dev/null +++ b/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822776653580748, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_141936_00041", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141923_00040", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141923_00040", + "--control-generation", + "40", + "--ready-token", + "741b286b9733446d8dc22ccc234517c2", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822776654129080, + "ended_time_ns": 1792822776671340620, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "capture_start_time_ns": 1792822766859894777, + "capture_stop_time_ns": 1792822773703521218, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/left_hand", + "timing": { + "server_start_request_time_ns": 1792822763409207883, + "subprocess_popen_time_ns": 1792822763413825043, + "process_entry_time_ns": 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1792822776309058561, + "ended_time_ns": 1792822776309267447, + "duration_s": 0.000208886, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822776309061987, + "ok": true, + "ended_time_ns": 1792822776309069764, + "duration_s": 7.777e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822776309070894, + "ok": true, + "ended_time_ns": 1792822776309073413, + "duration_s": 2.519e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822776309073913, + "ok": true, + "ended_time_ns": 1792822776309077135, + "duration_s": 3.222e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822776309077505, + "ok": true, + "ended_time_ns": 1792822776309257169, + "duration_s": 0.000179664 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822776309258280, + "ok": true, + "ended_time_ns": 1792822776309261429, + "duration_s": 3.149e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822776309261929, + "ok": true, + "ended_time_ns": 1792822776309264799, + "duration_s": 2.87e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822776309265206, + "ok": true, + "ended_time_ns": 1792822776309267040, + "duration_s": 1.834e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822776309925568, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822776024409799, + "frame_age_s": 0.285545879, + "heartbeat_age_s": 0.266275565, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822776309960030, + "duration_s": 3.4462e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822776309962030, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 104.326171875, + "sample_observed_time_ns": 1792822776036970389, + "sample_age_s": 0.272999474, + "heartbeat_age_s": 0.266301768, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822776309973623, + "duration_s": 1.1593e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822776309974623, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822776309976993, + "duration_s": 2.37e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822776309978030, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822776310082751, + "duration_s": 0.000104721 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 40, + "ready_token": "741b286b9733446d8dc22ccc234517c2", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "arm_request_id": "f19b3bfa264a45eeb27ab485147362b6", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2179, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774522221829, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822776548367952, + "capture_count": 492, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.326171875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822776536944846, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822776548960166 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822776351541100, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7959, + "displayed_count": 7745, + "dropped_count": 213, + "decode_error_count": 0, + "last_receive_time_ns": 1792822776257575828, + "last_frame_time_ns": 1792822776232564516, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774522221829, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822776548367952, + "capture_count": 492, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.326171875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822776536944846, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822776548960166 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822776674715554, + "ended_time_ns": 1792822776685081350, + "duration_s": 0.000215701, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822776675146542, + "ok": true, + "ended_time_ns": 1792822776675154153, + "duration_s": 7.611e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822776675155838, + "ok": true, + "ended_time_ns": 1792822776675158542, + "duration_s": 2.704e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822776675158967, + "ok": true, + "ended_time_ns": 1792822776675161801, + "duration_s": 2.834e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822776675162153, + "ok": true, + "ended_time_ns": 1792822776675347595, + "duration_s": 0.000185442 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822776675348761, + "ok": true, + "ended_time_ns": 1792822776675352020, + "duration_s": 3.259e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822776675352557, + "ok": true, + "ended_time_ns": 1792822776675355261, + "duration_s": 2.704e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822776675355613, + "ok": true, + "ended_time_ns": 1792822776675357502, + "duration_s": 1.889e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141936_00041", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141936_00041", + "--control-generation", + "41", + "--ready-token", + "4f9f3cb494614522918cf2397f66f38a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822776695351436, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "timing": { + "server_start_request_time_ns": 1792822776689784067, + "subprocess_popen_time_ns": 1792822776695351436, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822776675142171, + "ended_time_ns": 1792822776675357872, + "duration_s": 0.000215701, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822776675146542, + "ok": true, + "ended_time_ns": 1792822776675154153, + "duration_s": 7.611e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822776675155838, + "ok": true, + "ended_time_ns": 1792822776675158542, + "duration_s": 2.704e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822776675158967, + "ok": true, + "ended_time_ns": 1792822776675161801, + "duration_s": 2.834e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822776675162153, + "ok": true, + "ended_time_ns": 1792822776675347595, + "duration_s": 0.000185442 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822776675348761, + "ok": true, + "ended_time_ns": 1792822776675352020, + "duration_s": 3.259e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822776675352557, + "ok": true, + "ended_time_ns": 1792822776675355261, + "duration_s": 2.704e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822776675355613, + "ok": true, + "ended_time_ns": 1792822776675357502, + "duration_s": 1.889e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 41, + "ready_token": "4f9f3cb494614522918cf2397f66f38a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2180, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774522221829, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822776548367952, + "capture_count": 492, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.326171875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822776536944846, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822776548960166 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822776351541100, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7959, + "displayed_count": 7745, + "dropped_count": 213, + "decode_error_count": 0, + "last_receive_time_ns": 1792822776257575828, + "last_frame_time_ns": 1792822776232564516, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774522221829, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822776548367952, + "capture_count": 492, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.326171875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822776536944846, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822776548960166 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822776688691719, + "ended_time_ns": 1792822776715814076 + }, + "pi_start_request_time_ns": 1792822776715821914, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822776719153679, + "capture_start_time_ns": 1792822780211346450, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822784482440883, + "capture_stop_time_ns": 1792822785404409745, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141936_00041", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141936_00041", + "--control-generation", + "41", + "--ready-token", + "4f9f3cb494614522918cf2397f66f38a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822776695351436, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "capture_start_time_ns": 1792822780211346450, + "capture_stop_time_ns": 1792822785404409745, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "timing": { + "server_start_request_time_ns": 1792822776689784067, + "subprocess_popen_time_ns": 1792822776695351436, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822776707917415, + "validate_start_time_ns": 1792822777775132942, + "session_dir_create_start_time_ns": 1792822776708866051, + "session_dir_create_end_time_ns": 1792822776710137960, + "as5600_init_start_time_ns": 1792822776711606514, + "as5600_init_end_time_ns": 1792822776723759017, + "as5600_zero_start_time_ns": 1792822776725553604, + "as5600_zero_end_time_ns": 1792822777586786218, + "camera_init_start_time_ns": 1792822777589677531, + "camera_init_end_time_ns": 1792822777591770540, + "camera_start_start_time_ns": 1792822777592819192, + "camera_start_end_time_ns": 1792822777595414935, + "camera_first_frame_wait_start_time_ns": 1792822777597470426, + "camera_first_frame_wait_end_time_ns": 1792822777599748636, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822777603411198, + "armed_time_ns": 1792822777773641796, + "waiting_t0_time_ns": 1792822777776601904, + "recording_start_time_ns": 1792822780215700580, + "stop_request_time_ns": 1792822784483133688, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822776675142171, + "ended_time_ns": 1792822776675357872, + "duration_s": 0.000215701, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822776675146542, + "ok": true, + "ended_time_ns": 1792822776675154153, + "duration_s": 7.611e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822776675155838, + "ok": true, + "ended_time_ns": 1792822776675158542, + "duration_s": 2.704e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822776675158967, + "ok": true, + "ended_time_ns": 1792822776675161801, + "duration_s": 2.834e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822776675162153, + "ok": true, + "ended_time_ns": 1792822776675347595, + "duration_s": 0.000185442 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822776675348761, + "ok": true, + "ended_time_ns": 1792822776675352020, + "duration_s": 3.259e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822776675352557, + "ok": true, + "ended_time_ns": 1792822776675355261, + "duration_s": 2.704e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822776675355613, + "ok": true, + "ended_time_ns": 1792822776675357502, + "duration_s": 1.889e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 41, + "ready_token": "4f9f3cb494614522918cf2397f66f38a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "arm_request_id": "7c2e9c1be4394f7ab27a4aa9b1116162", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2180, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774522221829, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822776699194718, + "capture_count": 498, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.326171875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 179, + "max_queue_depth": 179, + "read_count": 179, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822776686955586, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822776704590460 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822784482811597, + "ended_time_ns": 1792822784498120251, + "capture_stop_time_ns": 1792822785404409745, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_141936_00041", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 112004 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 113033 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141661 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 113513 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 113033 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129735 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141936_00041", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141936_00041", + "--control-generation", + "41", + "--ready-token", + "4f9f3cb494614522918cf2397f66f38a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822786433059563, + "ended_time_ns": 1792822786451545622, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "capture_start_time_ns": 1792822780211346450, + "capture_stop_time_ns": 1792822785404409745, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "timing": { + "server_start_request_time_ns": 1792822776689784067, + 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1792822776723759017, + "as5600_zero_start_time_ns": 1792822776725553604, + "as5600_zero_end_time_ns": 1792822777586786218, + "camera_init_start_time_ns": 1792822777589677531, + "camera_init_end_time_ns": 1792822777591770540, + "camera_start_start_time_ns": 1792822777592819192, + "camera_start_end_time_ns": 1792822777595414935, + "camera_first_frame_wait_start_time_ns": 1792822777597470426, + "camera_first_frame_wait_end_time_ns": 1792822777599748636, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822777603411198, + "armed_time_ns": 1792822777773641796, + "waiting_t0_time_ns": 1792822777776601904, + "recording_start_time_ns": 1792822780215700580, + "stop_request_time_ns": 1792822784488995757, + "finalized_time_ns": 1792822785412539310 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822776675142171, + "ended_time_ns": 1792822776675357872, + "duration_s": 0.000215701, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822776675146542, + "ok": true, + "ended_time_ns": 1792822776675154153, + "duration_s": 7.611e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822776675155838, + "ok": true, + "ended_time_ns": 1792822776675158542, + "duration_s": 2.704e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822776675158967, + "ok": true, + "ended_time_ns": 1792822776675161801, + "duration_s": 2.834e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822776675162153, + "ok": true, + "ended_time_ns": 1792822776675347595, + "duration_s": 0.000185442 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822776675348761, + "ok": true, + "ended_time_ns": 1792822776675352020, + "duration_s": 3.259e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822776675352557, + "ok": true, + "ended_time_ns": 1792822776675355261, + "duration_s": 2.704e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822776675355613, + "ok": true, + "ended_time_ns": 1792822776675357502, + "duration_s": 1.889e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 41, + "ready_token": "4f9f3cb494614522918cf2397f66f38a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "arm_request_id": "7c2e9c1be4394f7ab27a4aa9b1116162", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2180, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786228074743, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822786217110001, + "capture_count": 346, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.76562499999999, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822786223117106, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822786232823753 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822786064413704, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8043, + "displayed_count": 7825, + "dropped_count": 216, + "decode_error_count": 0, + "last_receive_time_ns": 1792822786004247403, + "last_frame_time_ns": 1792822785963502655, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786228074743, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822786217110001, + "capture_count": 346, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.76562499999999, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822786223117106, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822786232823753 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792822786497315509, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792822786497314371 + } + }, + "updated_time_ns": 1792822786497318054 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..4a2394223bb776dee61b6d6483424446e3b58864 --- /dev/null +++ b/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822776721998095, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "left_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-26B06EF4", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792822780211346450, + "capture_stop_time_ns": 1792822785404409745, + "effective_capture_stop_time_ns": 1792822785404409745, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 1, + "tracker_serial_used": "LHR-26B06EF4", + "vive_bias": { + "x0": 0.11199759691953659, + "y0": -0.7392924427986145, + "z0": -0.6390235424041748, + "qx0": 0.07511850385016014, + "qy0": 0.754534065015085, + "qz0": -0.12223698377150873, + "qw0": 0.6403855673807531 + }, + "zero_reference_sample_ns": 1792822780220443193 + }, + "data_mark": "FORMAL", + "test_artifact": false, + "result": { + "sample_count": 1037, + "invalid_reads": 0, + "disconnected_reads": 0, + "invalid_pose_reads": 0, + "recording_disconnected_reads": 0, + 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1792822780223652177, + "clamp_last_sample_time_ns": 1792822785390316805, + "clamp_actual_hz": 60.000023674848045, + "clamp_value_min": 48.75238174532113, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 210, + "read_count": 702, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1377 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..92cf80ad871425aaf231b8256044692a6ea416e9 --- /dev/null +++ b/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822776654059488, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_141936_00041", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + 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"/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141923_00040", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141923_00040", + "--control-generation", + "40", + "--ready-token", + "810b9cef9c1344e897a400e996cdbb0a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822776654551084, + "ended_time_ns": 1792822776672650312, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.diagnostics.json", + "capture_start_time_ns": 1792822766859894777, + "capture_stop_time_ns": 1792822773703521218, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141923_00040/right_hand", + "timing": { + "server_start_request_time_ns": 1792822763383971625, + "subprocess_popen_time_ns": 1792822763388207866, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + 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1792822764264512770, + "camera_first_frame_wait_start_time_ns": 1792822764266242162, + "camera_first_frame_wait_end_time_ns": 1792822764268116164, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822764269304913, + "armed_time_ns": 1792822764382227537, + "waiting_t0_time_ns": 1792822764458028677, + "recording_start_time_ns": 1792822766860500906, + "stop_request_time_ns": 1792822772731781707, + "finalized_time_ns": 1792822773708975047 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822776448604757, + "ended_time_ns": 1792822776449664377, + "duration_s": 0.00105962, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822776448684516, + "ended_time_ns": 1792822776448902810, + "duration_s": 0.000218294, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822776448687997, + "ok": true, + "ended_time_ns": 1792822776448707515, + "duration_s": 1.9518e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822776448708682, + "ok": true, + "ended_time_ns": 1792822776448711830, + "duration_s": 3.148e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822776448712256, + "ok": true, + "ended_time_ns": 1792822776448715682, + "duration_s": 3.426e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822776448716015, + "ok": true, + "ended_time_ns": 1792822776448893366, + "duration_s": 0.000177351 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822776448894329, + "ok": true, + "ended_time_ns": 1792822776448897254, + "duration_s": 2.925e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822776448897810, + "ok": true, + "ended_time_ns": 1792822776448900162, + "duration_s": 2.352e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822776448900625, + "ok": true, + "ended_time_ns": 1792822776448902254, + "duration_s": 1.629e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822776449520693, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822776044807184, + "frame_age_s": 0.404740417, + "heartbeat_age_s": 0.40037451, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822776449551415, + "duration_s": 3.0722e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822776449553026, + "status_ok": true, + "gap_mm": 84.34740860649472, + "reference_angle_deg": 279.84375, + "sample_observed_time_ns": 1792822776040332631, + "sample_age_s": 0.409227432, + "heartbeat_age_s": 0.400398529, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822776449563193, + "duration_s": 1.0167e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822776449564174, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822776449566471, + "duration_s": 2.297e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822776449567600, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822776449662618, + "duration_s": 9.5018e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 40, + "ready_token": "810b9cef9c1344e897a400e996cdbb0a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141923_00040.ready.json", + "arm_request_id": "f19b3bfa264a45eeb27ab485147362b6", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3007, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774525584668, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822776543354025, + "capture_count": 492, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.84375, + "gripper_gap_mm": 84.34740860649472, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822776540358107, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822776553585323 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822775760633195, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7469, + "displayed_count": 5855, + "dropped_count": 1613, + "decode_error_count": 0, + "last_receive_time_ns": 1792822775734303596, + "last_frame_time_ns": 1792822775760558381, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774525584668, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822776543354025, + "capture_count": 492, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.84375, + "gripper_gap_mm": 84.34740860649472, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822776540358107, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822776553585323 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822776675570938, + "ended_time_ns": 1792822776685815546, + "duration_s": 0.000201702, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822776680280436, + "ok": true, + "ended_time_ns": 1792822776680287843, + "duration_s": 7.407e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822776680289714, + "ok": true, + "ended_time_ns": 1792822776680293102, + "duration_s": 3.388e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822776680293621, + "ok": true, + "ended_time_ns": 1792822776680296547, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822776680296880, + "ok": true, + "ended_time_ns": 1792822776680468249, + "duration_s": 0.000171369 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822776680469212, + "ok": true, + "ended_time_ns": 1792822776680472175, + "duration_s": 2.963e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822776680472675, + "ok": true, + "ended_time_ns": 1792822776680475230, + "duration_s": 2.555e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822776680475601, + "ok": true, + "ended_time_ns": 1792822776680477360, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141936_00041", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141936_00041", + "--control-generation", + "41", + "--ready-token", + "acbf95b1bfec44d6ac146112bb504e16", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822776699404395, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/right_hand", + "timing": { + "server_start_request_time_ns": 1792822776694708956, + "subprocess_popen_time_ns": 1792822776699404395, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822776680276214, + "ended_time_ns": 1792822776680477916, + "duration_s": 0.000201702, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822776680280436, + "ok": true, + "ended_time_ns": 1792822776680287843, + "duration_s": 7.407e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822776680289714, + "ok": true, + "ended_time_ns": 1792822776680293102, + "duration_s": 3.388e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822776680293621, + "ok": true, + "ended_time_ns": 1792822776680296547, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822776680296880, + "ok": true, + "ended_time_ns": 1792822776680468249, + "duration_s": 0.000171369 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822776680469212, + "ok": true, + "ended_time_ns": 1792822776680472175, + "duration_s": 2.963e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822776680472675, + "ok": true, + "ended_time_ns": 1792822776680475230, + "duration_s": 2.555e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822776680475601, + "ok": true, + "ended_time_ns": 1792822776680477360, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 41, + "ready_token": "acbf95b1bfec44d6ac146112bb504e16", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3008, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774525584668, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822776543354025, + "capture_count": 492, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.84375, + "gripper_gap_mm": 84.34740860649472, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + 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null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822775760633195, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7469, + "displayed_count": 5855, + "dropped_count": 1613, + "decode_error_count": 0, + "last_receive_time_ns": 1792822775734303596, + "last_frame_time_ns": 1792822775760558381, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141923_00040", + "generation": 40, + "session_count": 40, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774525584668, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822776543354025, + "capture_count": 492, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.84375, + "gripper_gap_mm": 84.34740860649472, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822776540358107, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822776553585323 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822776689338818, + "ended_time_ns": 1792822776710051829 + }, + "pi_start_request_time_ns": 1792822776710059409, + "capture_start_time_ns": 1792822780211346450, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822784559181376, + "capture_stop_time_ns": 1792822785404409745, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141936_00041", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141936_00041", + "--control-generation", + "41", + "--ready-token", + "acbf95b1bfec44d6ac146112bb504e16", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822776699404395, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "capture_start_time_ns": 1792822780211346450, + "capture_stop_time_ns": 1792822785404409745, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/right_hand", + "timing": { + "server_start_request_time_ns": 1792822776694708956, + "subprocess_popen_time_ns": 1792822776699404395, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822776714528594, + "validate_start_time_ns": 1792822777778305052, + "session_dir_create_start_time_ns": 1792822776716044229, + "session_dir_create_end_time_ns": 1792822776717746065, + "as5600_init_start_time_ns": 1792822776719436680, + "as5600_init_end_time_ns": 1792822776720409894, + "as5600_zero_start_time_ns": 1792822776723153165, + "as5600_zero_end_time_ns": 1792822777532471055, + "camera_init_start_time_ns": 1792822777534595592, + "camera_init_end_time_ns": 1792822777536549537, + "camera_start_start_time_ns": 1792822777537486584, + "camera_start_end_time_ns": 1792822777540065599, + "camera_first_frame_wait_start_time_ns": 1792822777544690446, + "camera_first_frame_wait_end_time_ns": 1792822777546637059, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822777547876288, + "armed_time_ns": 1792822777777008286, + "waiting_t0_time_ns": 1792822777780220276, + "recording_start_time_ns": 1792822780214334557, + "stop_request_time_ns": 1792822784562743522, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822776680276214, + "ended_time_ns": 1792822776680477916, + "duration_s": 0.000201702, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822776680280436, + "ok": true, + "ended_time_ns": 1792822776680287843, + "duration_s": 7.407e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822776680289714, + "ok": true, + "ended_time_ns": 1792822776680293102, + "duration_s": 3.388e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822776680293621, + "ok": true, + "ended_time_ns": 1792822776680296547, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822776680296880, + "ok": true, + "ended_time_ns": 1792822776680468249, + "duration_s": 0.000171369 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822776680469212, + "ok": true, + "ended_time_ns": 1792822776680472175, + "duration_s": 2.963e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822776680472675, + "ok": true, + "ended_time_ns": 1792822776680475230, + "duration_s": 2.555e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822776680475601, + "ok": true, + "ended_time_ns": 1792822776680477360, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 41, + "ready_token": "acbf95b1bfec44d6ac146112bb504e16", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "arm_request_id": "7c2e9c1be4394f7ab27a4aa9b1116162", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3008, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 40, + "last_bootstrap_time_ns": 1792822774525584668, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822776693462800, + "capture_count": 498, + "capture_error_count": 0, + "writer_count": 274, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.84375, + "gripper_gap_mm": 84.34740860649472, + "status_ok": true, + "queue_size": 600, + "queue_depth": 180, + "max_queue_depth": 180, + "read_count": 180, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822776706985902, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822776710777164 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822784559727083, + "ended_time_ns": 1792822784625921188, + "capture_stop_time_ns": 1792822785404409745, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141936_00041", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141936_00041", + "--control-generation", + "41", + "--ready-token", + "acbf95b1bfec44d6ac146112bb504e16", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822786656713236, + "ended_time_ns": 1792822786669931462, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "capture_start_time_ns": 1792822780211346450, + "capture_stop_time_ns": 1792822785404409745, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/right_hand", + "timing": { + "server_start_request_time_ns": 1792822776694708956, + "subprocess_popen_time_ns": 1792822776699404395, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822776714528594, + "validate_start_time_ns": 1792822777778305052, + "session_dir_create_start_time_ns": 1792822776716044229, + "session_dir_create_end_time_ns": 1792822776717746065, + "as5600_init_start_time_ns": 1792822776719436680, + "as5600_init_end_time_ns": 1792822776720409894, + "as5600_zero_start_time_ns": 1792822776723153165, + "as5600_zero_end_time_ns": 1792822777532471055, + "camera_init_start_time_ns": 1792822777534595592, + "camera_init_end_time_ns": 1792822777536549537, + "camera_start_start_time_ns": 1792822777537486584, + "camera_start_end_time_ns": 1792822777540065599, + "camera_first_frame_wait_start_time_ns": 1792822777544690446, + "camera_first_frame_wait_end_time_ns": 1792822777546637059, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822777547876288, + "armed_time_ns": 1792822777777008286, + "waiting_t0_time_ns": 1792822777780220276, + "recording_start_time_ns": 1792822780214334557, + "stop_request_time_ns": 1792822784564386286, + "finalized_time_ns": 1792822785414005520 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822776680276214, + "ended_time_ns": 1792822776680477916, + "duration_s": 0.000201702, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822776680280436, + "ok": true, + "ended_time_ns": 1792822776680287843, + "duration_s": 7.407e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822776680289714, + "ok": true, + "ended_time_ns": 1792822776680293102, + "duration_s": 3.388e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822776680293621, + "ok": true, + "ended_time_ns": 1792822776680296547, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822776680296880, + "ok": true, + "ended_time_ns": 1792822776680468249, + "duration_s": 0.000171369 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822776680469212, + "ok": true, + "ended_time_ns": 1792822776680472175, + "duration_s": 2.963e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822776680472675, + "ok": true, + "ended_time_ns": 1792822776680475230, + "duration_s": 2.555e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822776680475601, + "ok": true, + "ended_time_ns": 1792822776680477360, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 41, + "ready_token": "acbf95b1bfec44d6ac146112bb504e16", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "arm_request_id": "7c2e9c1be4394f7ab27a4aa9b1116162", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3008, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786227751370, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822786213224074, + "capture_count": 348, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.140625, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822786225818110, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822786231968203 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": 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"bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822786213224074, + "capture_count": 348, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": 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blocks/session_20261024_141936_00041/right_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..0f184940f355696ab13e8893a4a032bd1645f868 --- /dev/null +++ b/stack the blocks/session_20261024_141936_00041/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822776722012115, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141936_00041/right_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": 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"192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 41, + "ready_token": "4f9f3cb494614522918cf2397f66f38a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "arm_request_id": "7c2e9c1be4394f7ab27a4aa9b1116162", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2180, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786228074743, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822787743259500, + "capture_count": 407, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.76562499999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822787739116500, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822787747973529 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822787132460201, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8052, + "displayed_count": 7835, + "dropped_count": 216, + "decode_error_count": 0, + "last_receive_time_ns": 1792822787054845320, + "last_frame_time_ns": 1792822787023942736, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786228074743, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822787743259500, + "capture_count": 407, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.76562499999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822787739116500, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822787747973529 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822788004954890, + "ended_time_ns": 1792822788021584627, + "duration_s": 0.001258798, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822788010934972, + "ended_time_ns": 1792822788011138284, + "duration_s": 0.000203312, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822788010939157, + "ok": true, + "ended_time_ns": 1792822788010946898, + "duration_s": 7.741e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822788010947824, + "ok": true, + "ended_time_ns": 1792822788010950361, + "duration_s": 2.537e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822788010950879, + "ok": true, + "ended_time_ns": 1792822788010953527, + "duration_s": 2.648e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822788010953898, + "ok": true, + "ended_time_ns": 1792822788011128247, + "duration_s": 0.000174349 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822788011129192, + "ok": true, + "ended_time_ns": 1792822788011132599, + "duration_s": 3.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822788011133173, + "ok": true, + "ended_time_ns": 1792822788011135617, + "duration_s": 2.444e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822788011136117, + "ok": true, + "ended_time_ns": 1792822788011137895, + "duration_s": 1.778e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822788011873830, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822787743259500, + "frame_age_s": 0.268663625, + "heartbeat_age_s": 0.263922041, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822788011929829, + "duration_s": 5.5999e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822788011932440, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 104.76562499999999, + "sample_observed_time_ns": 1792822787739116500, + "sample_age_s": 0.272826884, + "heartbeat_age_s": 0.263962281, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822788011948977, + "duration_s": 1.6537e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822788011955162, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822788012112678, + "duration_s": 0.000157516 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822788021596813, + "ended_time_ns": 1792822788113026329, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141936_00041", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141936_00041", + "--control-generation", + "41", + "--ready-token", + "acbf95b1bfec44d6ac146112bb504e16", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822788113041815, + "ended_time_ns": 1792822788124298827, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "capture_start_time_ns": 1792822780211346450, + "capture_stop_time_ns": 1792822785404409745, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/right_hand", + "timing": { + "server_start_request_time_ns": 1792822776694708956, + "subprocess_popen_time_ns": 1792822776699404395, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822776714528594, + "validate_start_time_ns": 1792822777778305052, + "session_dir_create_start_time_ns": 1792822776716044229, + "session_dir_create_end_time_ns": 1792822776717746065, + "as5600_init_start_time_ns": 1792822776719436680, + "as5600_init_end_time_ns": 1792822776720409894, + "as5600_zero_start_time_ns": 1792822776723153165, + "as5600_zero_end_time_ns": 1792822777532471055, + "camera_init_start_time_ns": 1792822777534595592, + "camera_init_end_time_ns": 1792822777536549537, + "camera_start_start_time_ns": 1792822777537486584, + "camera_start_end_time_ns": 1792822777540065599, + "camera_first_frame_wait_start_time_ns": 1792822777544690446, + "camera_first_frame_wait_end_time_ns": 1792822777546637059, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822777547876288, + "armed_time_ns": 1792822777777008286, + "waiting_t0_time_ns": 1792822777780220276, + "recording_start_time_ns": 1792822780214334557, + "stop_request_time_ns": 1792822784564386286, + "finalized_time_ns": 1792822785414005520 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822776680276214, + "ended_time_ns": 1792822776680477916, + "duration_s": 0.000201702, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822776680280436, + "ok": true, + "ended_time_ns": 1792822776680287843, + "duration_s": 7.407e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822776680289714, + "ok": true, + "ended_time_ns": 1792822776680293102, + "duration_s": 3.388e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822776680293621, + "ok": true, + "ended_time_ns": 1792822776680296547, + "duration_s": 2.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822776680296880, + "ok": true, + "ended_time_ns": 1792822776680468249, + "duration_s": 0.000171369 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822776680469212, + "ok": true, + "ended_time_ns": 1792822776680472175, + "duration_s": 2.963e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822776680472675, + "ok": true, + "ended_time_ns": 1792822776680475230, + "duration_s": 2.555e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822776680475601, + "ok": true, + "ended_time_ns": 1792822776680477360, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 41, + "ready_token": "acbf95b1bfec44d6ac146112bb504e16", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "arm_request_id": "7c2e9c1be4394f7ab27a4aa9b1116162", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3008, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786227751370, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822787735479711, + "capture_count": 409, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.140625, + "gripper_gap_mm": 84.34740860649472, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822787742489222, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822787752495689 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822787962675411, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7574, + "displayed_count": 5929, + "dropped_count": 1643, + "decode_error_count": 0, + "last_receive_time_ns": 1792822787851708917, + "last_frame_time_ns": 1792822787826524919, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786227751370, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822787735479711, + "capture_count": 409, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.140625, + "gripper_gap_mm": 84.34740860649472, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822787742489222, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822787752495689 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822788148413117, + "ended_time_ns": 1792822788156362335, + "duration_s": 0.001006305, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822788150048373, + "ended_time_ns": 1792822788150246316, + "duration_s": 0.000197943, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822788150051669, + "ok": true, + "ended_time_ns": 1792822788150059188, + "duration_s": 7.519e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822788150060206, + "ok": true, + "ended_time_ns": 1792822788150063002, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822788150063465, + "ok": true, + "ended_time_ns": 1792822788150066280, + "duration_s": 2.815e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822788150066706, + "ok": true, + "ended_time_ns": 1792822788150236260, + "duration_s": 0.000169554 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822788150237353, + "ok": true, + "ended_time_ns": 1792822788150240316, + "duration_s": 2.963e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822788150240945, + "ok": true, + "ended_time_ns": 1792822788150243649, + "duration_s": 2.704e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822788150243964, + "ok": true, + "ended_time_ns": 1792822788150245834, + "duration_s": 1.87e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822788150824440, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822787735479711, + "frame_age_s": 0.415368877, + "heartbeat_age_s": 0.398338233, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822788150852495, + "duration_s": 2.8055e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822788150853977, + "status_ok": true, + "gap_mm": 84.34740860649472, + "reference_angle_deg": 279.140625, + "sample_observed_time_ns": 1792822787742489222, + "sample_age_s": 0.408371292, + "heartbeat_age_s": 0.398361066, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822788150863718, + "duration_s": 9.741e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822788150867921, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822788150974680, + "duration_s": 0.000106759 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822788156387416, + "ended_time_ns": 1792822788255672508, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823124789226825, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823121178179334, + "ended_time_ns": 1792823121194836721, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823121195000793, + "ended_time_ns": 1792823121262465304, + "transferred_bytes": 13695, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,695 bytes\nTotal transferred file size: 13,695 bytes\nLiteral data: 13,695 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,831\n\nsent 46 bytes received 13,831 bytes 27,754.00 bytes/sec\ntotal size is 13,695 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823121262673763, + "ended_time_ns": 1792823124787580349, + "transferred_bytes": 8201340, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,201,340 bytes\nTotal transferred file size: 8,201,340 bytes\nLiteral data: 8,201,340 bytes\nMatched data: 0 bytes\nFile list size: 227\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,203,761\n\nsent 168 bytes received 8,203,761 bytes 2,343,979.71 bytes/sec\ntotal size is 8,201,340 speedup is 1.00" + } + ], + "transferred_bytes": 8215035, + "copied_local_bytes": 8663109, + "started_time_ns": 1792823121177478365, + "ended_time_ns": 1792823124788147428 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823121178359068, + "ended_time_ns": 1792823121193561849, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823121193715105, + "ended_time_ns": 1792823121241657248, + "transferred_bytes": 13686, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,686 bytes\nTotal transferred file size: 13,686 bytes\nLiteral data: 13,686 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,822\n\nsent 46 bytes received 13,822 bytes 27,736.00 bytes/sec\ntotal size is 13,686 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823121243095541, + "ended_time_ns": 1792823121737484509, + "transferred_bytes": 7447245, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 7,447,245 bytes\nTotal transferred file size: 7,447,245 bytes\nLiteral data: 7,447,245 bytes\nMatched data: 0 bytes\nFile list size: 219\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 7,449,470\n\nsent 168 bytes received 7,449,470 bytes 14,899,276.00 bytes/sec\ntotal size is 7,447,245 speedup is 1.00" + } + ], + "transferred_bytes": 7460931, + "copied_local_bytes": 7893945, + "started_time_ns": 1792823121177848941, + "ended_time_ns": 1792823121738023700 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_141948_00042", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823376258957413, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823375852153012, + "ended_time_ns": 1792823376258680677, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823375852153012, + "ended_time_ns": 1792823376070699114, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141948_00042", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141948_00042_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141948_00042 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141948_00042_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141948_00042_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141948_00042_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141948_00042\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822791874913578\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822791874913578，vive_T0=1792822791874913578，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822797918451591，vive_Tstop=1792822797918451591，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005653s，first=1792822791880567015，T0=1792822791874913578，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003022s，last=1792822797915429687，Tstop=1792822797918451591，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1208\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00455115575826 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00455115575826 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1208，metadata 1208\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0045562492612 Hz，最低 150.0 Hz，时长 6.034862518310547 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0045562492612 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005437612533569336s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994790264..1.0000000005255694，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.000959462675420468m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.13719580379938426deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=242 duration=6.05s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=242，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 242，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=241，rows=242，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=242，monotonic违规=0，估算频率=40.01598630350753Hz，最大间隔=0.034958548s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 242，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.015987047670485 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.015987047670485 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.034958234s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 362，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 42.8023..98.8484\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 362，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00018861333528 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00018861333528 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020175302s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=362，bad_rows=0，monotonic违规=0，估算频率=60.00020634419993Hz，最大间隔=0.020175914s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 242，metadata 242\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 362，metadata 362\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 242，timestamps 242，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=242，timestamps=242，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.027s，video=6.05s，timestamps=6.022592912999999s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.006s，camera=6.022592912999999s，clamp=6.016647753000002s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822791874913578，pi_T0=1792822791874913578，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822797918451591，pi_Tstop=1792822797918451591，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013146s，first=1792822791888059722，T0=1792822791874913578，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.014211s，first=1792822791889124800，T0=1792822791874913578，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.007799s，last=1792822797910652635，Tstop=1792822797918451591，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.012679s，last=1792822797905772553，Tstop=1792822797918451591，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.012270s，vive=6.034862672s，camera=6.022592912999999s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.018215s，vive=6.034862672s，clamp=6.016647753000002s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.007493s，vive_first=1792822791880567015，camera_first=1792822791888059722，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.008558s，vive_first=1792822791880567015，clamp_first=1792822791889124800，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.004777s，vive_last=1792822797915429687，camera_last=1792822797910652635，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.009657s，vive_last=1792822797915429687，clamp_last=1792822797905772553，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141948_00042_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823376071001044, + "ended_time_ns": 1792823376258680677, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_141948_00042", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141948_00042_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_141948_00042 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141948_00042_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141948_00042_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141948_00042_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141948_00042\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822791874913578\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822791874913578，vive_T0=1792822791874913578，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822797918451591，vive_Tstop=1792822797918451591，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005653s，first=1792822791880567015，T0=1792822791874913578，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003022s，last=1792822797915429687，Tstop=1792822797918451591，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1208\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00455115575826 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00455115575826 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1208，metadata 1208\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0045562492612 Hz，最低 150.0 Hz，时长 6.034862518310547 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0045562492612 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005437612533569336s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994437683..1.0000000005978986，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0018272134787271014m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.5681884991004993deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=242 duration=6.05s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=242，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 242，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=241，rows=242，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=242，monotonic违规=0，估算频率=40.00385804510596Hz，最大间隔=0.031409109s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 242，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.0038607543424 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.0038607543424 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.031409257s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 363，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 363，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99827955099127 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99827955099127 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018150746s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=363，bad_rows=0，monotonic违规=0，估算频率=59.998259483640595Hz，最大间隔=0.018150987s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 242，metadata 242\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 363，metadata 363\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 242，timestamps 242，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=242，timestamps=242，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.026s，video=6.05s，timestamps=6.0244185299999975s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.009s，camera=6.0244185299999975s，clamp=6.033506339000001s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822791874913578，pi_T0=1792822791874913578，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822797918451591，pi_Tstop=1792822797918451591，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.007931s，first=1792822791882845040，T0=1792822791874913578，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.000872s，first=1792822791875785547，T0=1792822791874913578，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.011188s，last=1792822797907263570，Tstop=1792822797918451591，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.009160s，last=1792822797909291886，Tstop=1792822797918451591，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.010444s，vive=6.034862672s，camera=6.0244185299999975s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.001356s，vive=6.034862672s，clamp=6.033506339000001s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.002278s，vive_first=1792822791880567015，camera_first=1792822791882845040，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.004781s，vive_first=1792822791880567015，clamp_first=1792822791875785547，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.008166s，vive_last=1792822797915429687，camera_last=1792822797907263570，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.006138s，vive_last=1792822797915429687，clamp_last=1792822797909291886，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141948_00042_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141948_00042_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141948_00042\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822791874913578\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822791874913578，vive_T0=1792822791874913578，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822797918451591，vive_Tstop=1792822797918451591，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005653s，first=1792822791880567015，T0=1792822791874913578，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003022s，last=1792822797915429687，Tstop=1792822797918451591，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1208\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00455115575826 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00455115575826 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1208，metadata 1208\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0045562492612 Hz，最低 150.0 Hz，时长 6.034862518310547 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0045562492612 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005437612533569336s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994790264..1.0000000005255694，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.000959462675420468m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.13719580379938426deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=242 duration=6.05s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=242，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 242，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=241，rows=242，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=242，monotonic违规=0，估算频率=40.01598630350753Hz，最大间隔=0.034958548s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 242，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.015987047670485 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.015987047670485 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.034958234s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 362，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 42.8023..98.8484\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 362，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00018861333528 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00018861333528 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020175302s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=362，bad_rows=0，monotonic违规=0，估算频率=60.00020634419993Hz，最大间隔=0.020175914s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 242，metadata 242\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 362，metadata 362\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 242，timestamps 242，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=242，timestamps=242，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.027s，video=6.05s，timestamps=6.022592912999999s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.006s，camera=6.022592912999999s，clamp=6.016647753000002s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822791874913578，pi_T0=1792822791874913578，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822797918451591，pi_Tstop=1792822797918451591，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.013146s，first=1792822791888059722，T0=1792822791874913578，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.014211s，first=1792822791889124800，T0=1792822791874913578，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.007799s，last=1792822797910652635，Tstop=1792822797918451591，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.012679s，last=1792822797905772553，Tstop=1792822797918451591，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.012270s，vive=6.034862672s，camera=6.022592912999999s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.018215s，vive=6.034862672s，clamp=6.016647753000002s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.007493s，vive_first=1792822791880567015，camera_first=1792822791888059722，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.008558s，vive_first=1792822791880567015，clamp_first=1792822791889124800，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.004777s，vive_last=1792822797915429687，camera_last=1792822797910652635，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.009657s，vive_last=1792822797915429687，clamp_last=1792822797905772553，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141948_00042_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_141948_00042\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822791874913578\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822791874913578，vive_T0=1792822791874913578，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822797918451591，vive_Tstop=1792822797918451591，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005653s，first=1792822791880567015，T0=1792822791874913578，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003022s，last=1792822797915429687，Tstop=1792822797918451591，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1208\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00455115575826 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00455115575826 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1208，metadata 1208\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0045562492612 Hz，最低 150.0 Hz，时长 6.034862518310547 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0045562492612 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005437612533569336s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994437683..1.0000000005978986，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0018272134787271014m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.5681884991004993deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=242 duration=6.05s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=242，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 242，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=241，rows=242，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=242，monotonic违规=0，估算频率=40.00385804510596Hz，最大间隔=0.031409109s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 242，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.0038607543424 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.0038607543424 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.031409257s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 363，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 363，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99827955099127 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99827955099127 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018150746s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=363，bad_rows=0，monotonic违规=0，估算频率=59.998259483640595Hz，最大间隔=0.018150987s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 242，metadata 242\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 363，metadata 363\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 242，timestamps 242，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=242，timestamps=242，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.026s，video=6.05s，timestamps=6.0244185299999975s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.009s，camera=6.0244185299999975s，clamp=6.033506339000001s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822791874913578，pi_T0=1792822791874913578，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822797918451591，pi_Tstop=1792822797918451591，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.007931s，first=1792822791882845040，T0=1792822791874913578，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.000872s，first=1792822791875785547，T0=1792822791874913578，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.011188s，last=1792822797907263570，Tstop=1792822797918451591，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.009160s，last=1792822797909291886，Tstop=1792822797918451591，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.010444s，vive=6.034862672s，camera=6.0244185299999975s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.001356s，vive=6.034862672s，clamp=6.033506339000001s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.002278s，vive_first=1792822791880567015，camera_first=1792822791882845040，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.004781s，vive_first=1792822791880567015，clamp_first=1792822791875785547，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.008166s，vive_last=1792822797915429687，camera_last=1792822797907263570，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.006138s，vive_last=1792822797915429687，clamp_last=1792822797909291886，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_141948_00042_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141948_00042/control/stop_left_hand.flag b/stack the blocks/session_20261024_141948_00042/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..0d8cf5752812da66f2d01c5a26ececcc096c73a2 --- /dev/null +++ b/stack the blocks/session_20261024_141948_00042/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822797918451591 \ No newline at end of file diff --git a/stack the blocks/session_20261024_141948_00042/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the blocks/session_20261024_141948_00042/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..ad5bf128d66154bd14a1e908fe577164a2cb4637 --- /dev/null +++ b/stack the blocks/session_20261024_141948_00042/left_hand/Clamp_Data/clamp_data_tum.txt @@ -0,0 +1,362 @@ +1792822791.889124800 98.8484 +1792822791.905767668 98.8484 +1792822791.922442333 98.8484 +1792822791.939112331 98.8484 +1792822791.955769829 98.8484 +1792822791.972437142 98.8484 +1792822791.989117732 98.8484 +1792822792.005766397 98.8484 +1792822792.022436839 98.8484 +1792822792.042056797 98.8484 +1792822792.055779131 98.8484 +1792822792.072436907 98.8484 +1792822792.089106183 98.8484 +1792822792.105768699 98.8484 +1792822792.122432679 98.8484 +1792822792.139230490 98.8484 +1792822792.155766360 98.8484 +1792822792.172463894 98.8484 +1792822792.189137892 98.8484 +1792822792.205769464 98.8484 +1792822792.222435629 98.8484 +1792822792.239127682 98.8484 +1792822792.255767255 98.8484 +1792822792.272439549 98.8484 +1792822792.289110713 98.8484 +1792822792.305768767 98.8484 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"/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Clamp_Data", + "metadata_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Metadata", + "video_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand/RGB_Images/video.mp4", + "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand/RGB_Images/timestamps.csv", + "clamp_data_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Clamp_Data/clamp_data_tum.txt", + "metadata_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Metadata/metadata.json", + "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Clamp_Data/clamp_timebase.csv" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/TeleUMI", + "pi_data_root": "/home/zhang/TeleUMI/datasets" + }, + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + 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+ "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 362, + "clamp_first_sample_time_ns": 1792822791889124800, + "clamp_last_sample_time_ns": 1792822797905772553, + "clamp_actual_hz": 60.0001886133353, + "clamp_value_min": 42.80228374571422, + "clamp_value_max": 98.84836812910834, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 207, + "read_count": 751, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1535 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141948_00042/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141948_00042/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b97136727d31607d61d75ff809be5d10960d0ec0 --- /dev/null +++ b/stack the blocks/session_20261024_141948_00042/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822788360303226, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_141948_00042", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141936_00041", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141936_00041", + "--control-generation", + "41", + "--ready-token", + "4f9f3cb494614522918cf2397f66f38a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822788360849812, + "ended_time_ns": 1792822788375636331, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "capture_start_time_ns": 1792822780211346450, + "capture_stop_time_ns": 1792822785404409745, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/left_hand", + "timing": { + "server_start_request_time_ns": 1792822776689784067, + "subprocess_popen_time_ns": 1792822776695351436, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822776707917415, + "validate_start_time_ns": 1792822777775132942, + "session_dir_create_start_time_ns": 1792822776708866051, + "session_dir_create_end_time_ns": 1792822776710137960, + "as5600_init_start_time_ns": 1792822776711606514, + "as5600_init_end_time_ns": 1792822776723759017, + "as5600_zero_start_time_ns": 1792822776725553604, + "as5600_zero_end_time_ns": 1792822777586786218, + "camera_init_start_time_ns": 1792822777589677531, + "camera_init_end_time_ns": 1792822777591770540, + "camera_start_start_time_ns": 1792822777592819192, + "camera_start_end_time_ns": 1792822777595414935, + "camera_first_frame_wait_start_time_ns": 1792822777597470426, + "camera_first_frame_wait_end_time_ns": 1792822777599748636, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822777603411198, + "armed_time_ns": 1792822777773641796, + "waiting_t0_time_ns": 1792822777776601904, + "recording_start_time_ns": 1792822780215700580, + "stop_request_time_ns": 1792822784488995757, + "finalized_time_ns": 1792822785412539310 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822788010855825, + "ended_time_ns": 1792822788012114623, + "duration_s": 0.001258798, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822788010934972, + "ended_time_ns": 1792822788011138284, + "duration_s": 0.000203312, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822788010939157, + "ok": true, + "ended_time_ns": 1792822788010946898, + "duration_s": 7.741e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822788010947824, + "ok": true, + "ended_time_ns": 1792822788010950361, + "duration_s": 2.537e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822788010950879, + "ok": true, + "ended_time_ns": 1792822788010953527, + "duration_s": 2.648e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822788010953898, + "ok": true, + "ended_time_ns": 1792822788011128247, + "duration_s": 0.000174349 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822788011129192, + "ok": true, + "ended_time_ns": 1792822788011132599, + "duration_s": 3.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822788011133173, + "ok": true, + "ended_time_ns": 1792822788011135617, + "duration_s": 2.444e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822788011136117, + "ok": true, + "ended_time_ns": 1792822788011137895, + "duration_s": 1.778e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822788011873830, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822787743259500, + "frame_age_s": 0.268663625, + "heartbeat_age_s": 0.263922041, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822788011929829, + "duration_s": 5.5999e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822788011932440, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 104.76562499999999, + "sample_observed_time_ns": 1792822787739116500, + "sample_age_s": 0.272826884, + "heartbeat_age_s": 0.263962281, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822788011948977, + "duration_s": 1.6537e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822788011950181, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822788011953606, + "duration_s": 3.425e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822788011955162, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822788012112678, + "duration_s": 0.000157516 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 41, + "ready_token": "4f9f3cb494614522918cf2397f66f38a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "arm_request_id": "7c2e9c1be4394f7ab27a4aa9b1116162", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2180, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786228074743, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822788242250915, + "capture_count": 427, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.76562499999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822788239116716, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822788252755940 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822788277857972, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8062, + "displayed_count": 7845, + "dropped_count": 216, + "decode_error_count": 0, + "last_receive_time_ns": 1792822788197923104, + "last_frame_time_ns": 1792822788173032624, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786228074743, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822788242250915, + "capture_count": 427, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.76562499999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822788239116716, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822788252755940 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" 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92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + 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1792822788386237979, + "duration_s": 0.000203683, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822788377410929, + "ok": true, + "ended_time_ns": 1792822788377419040, + "duration_s": 8.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822788377420633, + "ok": true, + "ended_time_ns": 1792822788377423095, + "duration_s": 2.462e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822788377423595, + "ok": true, + "ended_time_ns": 1792822788377426558, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822788377426947, + "ok": true, + "ended_time_ns": 1792822788377600575, + "duration_s": 0.000173628 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822788377601538, + "ok": true, + "ended_time_ns": 1792822788377604575, + "duration_s": 3.037e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822788377605149, + "ok": true, + "ended_time_ns": 1792822788377607760, + "duration_s": 2.611e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822788377608149, + "ok": true, + "ended_time_ns": 1792822788377609834, + "duration_s": 1.685e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141948_00042", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", 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"camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822788377406651, + "ended_time_ns": 1792822788377610334, + "duration_s": 0.000203683, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822788377410929, + "ok": true, + "ended_time_ns": 1792822788377419040, + "duration_s": 8.111e-06 + }, + { + "name": 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Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": 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--. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 42, + "ready_token": "733d2780596e45809ae566f2f9b3c970", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2181, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786228074743, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822788242250915, + "capture_count": 427, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.76562499999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822788239116716, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822788252755940 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822788277857972, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8062, + "displayed_count": 7845, + "dropped_count": 216, + "decode_error_count": 0, + "last_receive_time_ns": 1792822788197923104, + "last_frame_time_ns": 1792822788173032624, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786228074743, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822788242250915, + "capture_count": 427, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.76562499999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822788239116716, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822788252755940 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822788390158479, + "ended_time_ns": 1792822788411815594 + }, + "pi_start_request_time_ns": 1792822788411821582, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822788415275186, + "capture_start_time_ns": 1792822791874913578, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822797053029999, + "capture_stop_time_ns": 1792822797918451591, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141948_00042", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141948_00042", + "--control-generation", + "42", + "--ready-token", + "733d2780596e45809ae566f2f9b3c970", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822788395402539, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "capture_start_time_ns": 1792822791874913578, + "capture_stop_time_ns": 1792822797918451591, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand", + "timing": { + "server_start_request_time_ns": 1792822788390059425, + "subprocess_popen_time_ns": 1792822788395402539, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822788417561296, + "validate_start_time_ns": 1792822789413818204, + "session_dir_create_start_time_ns": 1792822788419801618, + "session_dir_create_end_time_ns": 1792822788421693963, + "as5600_init_start_time_ns": 1792822788425169490, + "as5600_init_end_time_ns": 1792822788426046015, + "as5600_zero_start_time_ns": 1792822788427729604, + "as5600_zero_end_time_ns": 1792822789230148861, + "camera_init_start_time_ns": 1792822789231616378, + "camera_init_end_time_ns": 1792822789233421298, + "camera_start_start_time_ns": 1792822789234256472, + "camera_start_end_time_ns": 1792822789235581288, + "camera_first_frame_wait_start_time_ns": 1792822789236963250, + "camera_first_frame_wait_end_time_ns": 1792822789241978368, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822789243975341, + "armed_time_ns": 1792822789412225040, + "waiting_t0_time_ns": 1792822789415920731, + "recording_start_time_ns": 1792822791879394542, + "stop_request_time_ns": 1792822797050637302, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822788377406651, + "ended_time_ns": 1792822788377610334, + "duration_s": 0.000203683, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822788377410929, + "ok": true, + "ended_time_ns": 1792822788377419040, + "duration_s": 8.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822788377420633, + "ok": true, + "ended_time_ns": 1792822788377423095, + "duration_s": 2.462e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822788377423595, + "ok": true, + "ended_time_ns": 1792822788377426558, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822788377426947, + "ok": true, + "ended_time_ns": 1792822788377600575, + "duration_s": 0.000173628 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822788377601538, + "ok": true, + "ended_time_ns": 1792822788377604575, + "duration_s": 3.037e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822788377605149, + "ok": true, + "ended_time_ns": 1792822788377607760, + "duration_s": 2.611e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822788377608149, + "ok": true, + "ended_time_ns": 1792822788377609834, + "duration_s": 1.685e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 42, + "ready_token": "733d2780596e45809ae566f2f9b3c970", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "arm_request_id": "e19ab7fc60964421876a8e4132ff375b", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2181, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786228074743, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822788392527448, + "capture_count": 433, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.76562499999999, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 180, + "max_queue_depth": 180, + "read_count": 180, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822788405773473, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822788410335838 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822797053415094, + "ended_time_ns": 1792822797065878361, + "capture_stop_time_ns": 1792822797918451591, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_141948_00042", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 129616 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 131672 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141693 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 131885 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 131672 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129738 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141948_00042", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141948_00042", + "--control-generation", + "42", + "--ready-token", + "733d2780596e45809ae566f2f9b3c970", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822798952670042, + "ended_time_ns": 1792822798968466109, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "capture_start_time_ns": 1792822791874913578, + "capture_stop_time_ns": 1792822797918451591, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand", + "timing": { + "server_start_request_time_ns": 1792822788390059425, + "subprocess_popen_time_ns": 1792822788395402539, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822788417561296, + "validate_start_time_ns": 1792822789413818204, + "session_dir_create_start_time_ns": 1792822788419801618, + "session_dir_create_end_time_ns": 1792822788421693963, + "as5600_init_start_time_ns": 1792822788425169490, + "as5600_init_end_time_ns": 1792822788426046015, + "as5600_zero_start_time_ns": 1792822788427729604, + "as5600_zero_end_time_ns": 1792822789230148861, + "camera_init_start_time_ns": 1792822789231616378, + "camera_init_end_time_ns": 1792822789233421298, + "camera_start_start_time_ns": 1792822789234256472, + "camera_start_end_time_ns": 1792822789235581288, + "camera_first_frame_wait_start_time_ns": 1792822789236963250, + "camera_first_frame_wait_end_time_ns": 1792822789241978368, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822789243975341, + "armed_time_ns": 1792822789412225040, + "waiting_t0_time_ns": 1792822789415920731, + "recording_start_time_ns": 1792822791879394542, + "stop_request_time_ns": 1792822797051745842, + "finalized_time_ns": 1792822797927730924 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822788377406651, + "ended_time_ns": 1792822788377610334, + "duration_s": 0.000203683, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822788377410929, + "ok": true, + "ended_time_ns": 1792822788377419040, + "duration_s": 8.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822788377420633, + "ok": true, + "ended_time_ns": 1792822788377423095, + "duration_s": 2.462e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822788377423595, + "ok": true, + "ended_time_ns": 1792822788377426558, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822788377426947, + "ok": true, + "ended_time_ns": 1792822788377600575, + "duration_s": 0.000173628 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822788377601538, + "ok": true, + "ended_time_ns": 1792822788377604575, + "duration_s": 3.037e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822788377605149, + "ok": true, + "ended_time_ns": 1792822788377607760, + "duration_s": 2.611e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822788377608149, + "ok": true, + "ended_time_ns": 1792822788377609834, + "duration_s": 1.685e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 42, + "ready_token": "733d2780596e45809ae566f2f9b3c970", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "arm_request_id": "e19ab7fc60964421876a8e4132ff375b", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2181, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798748422269, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822798733779984, + "capture_count": 381, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.30648118556353, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822798741436492, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822798751732113 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": 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300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "max_zero_position_m": 0.005, + "max_zero_rotation_deg": 5.0, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 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"import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822788467619102, + "validate_start_time_ns": 1792822789402672836, + "session_dir_create_start_time_ns": 1792822788468436817, + "session_dir_create_end_time_ns": 1792822788470085414, + "as5600_init_start_time_ns": 1792822788471159145, + "as5600_init_end_time_ns": 1792822788472006063, + "as5600_zero_start_time_ns": 1792822788473358310, + "as5600_zero_end_time_ns": 1792822789278449349, + "camera_init_start_time_ns": 1792822789280758939, + "camera_init_end_time_ns": 1792822789284347185, + "camera_start_start_time_ns": 1792822789286324334, + "camera_start_end_time_ns": 1792822789287706026, + "camera_first_frame_wait_start_time_ns": 1792822789289113420, + "camera_first_frame_wait_end_time_ns": 1792822789291067940, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822789292302836, + "armed_time_ns": 1792822789401589234, + "waiting_t0_time_ns": 1792822789404565060, + "recording_start_time_ns": 1792822791877724808, + "stop_request_time_ns": 1792822796961225194, + "finalized_time_ns": 1792822797924245456 + }, + "last_error": null, + "capture_start_time_ns": 1792822791874913578, + "capture_stop_time_ns": 1792822797918451591 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "right_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822791874913578, + "capture_stop_time_ns": 1792822797918451591, + "effective_capture_stop_time_ns": 1792822797918451591, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_141948_00042", + "control_generation": 42, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822791874913578, + "capture_stop_time_ns": 1792822797918451591 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 278.7890625, + "reference_source": "max_open_init", + "zero_angle_deg": 278.7890625, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.241e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822791877697919, + "camera_frame_count": 242, + "camera_started_time_ns": 1792822789284336963, + "camera_stopped_time_ns": 1792822797922818284, + "camera_actual_fps": 28.014183397225406, + "camera_first_frame_time_ns": 1792822791882845040, + "camera_last_frame_time_ns": 1792822797907263570, + "camera_frame_timestamp_fps": 40.00386075434238, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822797907263570, + "capture_count": 346, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 363, + "clamp_first_sample_time_ns": 1792822791875785547, + "clamp_last_sample_time_ns": 1792822797909291886, + "clamp_actual_hz": 59.99827955099129, + "clamp_value_min": 100.0, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 205, + "read_count": 750, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1533 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_141948_00042/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_141948_00042/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5f72d450d50179a4da8f37aaf8da3cdbd2fb2a66 --- /dev/null +++ b/stack the blocks/session_20261024_141948_00042/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822788379189176, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_141948_00042", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_141948_00042/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141936_00041", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141936_00041", + "--control-generation", + "41", + "--ready-token", + "acbf95b1bfec44d6ac146112bb504e16", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822788379702759, + "ended_time_ns": 1792822788393995104, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.diagnostics.json", + "capture_start_time_ns": 1792822780211346450, + "capture_stop_time_ns": 1792822785404409745, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141936_00041/right_hand", + "timing": { + "server_start_request_time_ns": 1792822776694708956, + "subprocess_popen_time_ns": 1792822776699404395, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822776714528594, + "validate_start_time_ns": 1792822777778305052, + "session_dir_create_start_time_ns": 1792822776716044229, + "session_dir_create_end_time_ns": 1792822776717746065, + "as5600_init_start_time_ns": 1792822776719436680, + "as5600_init_end_time_ns": 1792822776720409894, + "as5600_zero_start_time_ns": 1792822776723153165, + "as5600_zero_end_time_ns": 1792822777532471055, + "camera_init_start_time_ns": 1792822777534595592, + "camera_init_end_time_ns": 1792822777536549537, + "camera_start_start_time_ns": 1792822777537486584, + "camera_start_end_time_ns": 1792822777540065599, + "camera_first_frame_wait_start_time_ns": 1792822777544690446, + "camera_first_frame_wait_end_time_ns": 1792822777546637059, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822777547876288, + "armed_time_ns": 1792822777777008286, + "waiting_t0_time_ns": 1792822777780220276, + "recording_start_time_ns": 1792822780214334557, + "stop_request_time_ns": 1792822784564386286, + "finalized_time_ns": 1792822785414005520 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822788149969837, + "ended_time_ns": 1792822788150976142, + "duration_s": 0.001006305, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822788150048373, + "ended_time_ns": 1792822788150246316, + "duration_s": 0.000197943, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822788150051669, + "ok": true, + "ended_time_ns": 1792822788150059188, + "duration_s": 7.519e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822788150060206, + "ok": true, + "ended_time_ns": 1792822788150063002, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822788150063465, + "ok": true, + "ended_time_ns": 1792822788150066280, + "duration_s": 2.815e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822788150066706, + "ok": true, + "ended_time_ns": 1792822788150236260, + "duration_s": 0.000169554 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822788150237353, + "ok": true, + "ended_time_ns": 1792822788150240316, + "duration_s": 2.963e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822788150240945, + "ok": true, + "ended_time_ns": 1792822788150243649, + "duration_s": 2.704e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822788150243964, + "ok": true, + "ended_time_ns": 1792822788150245834, + "duration_s": 1.87e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822788150824440, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822787735479711, + "frame_age_s": 0.415368877, + "heartbeat_age_s": 0.398338233, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822788150852495, + "duration_s": 2.8055e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822788150853977, + "status_ok": true, + "gap_mm": 84.34740860649472, + "reference_angle_deg": 279.140625, + "sample_observed_time_ns": 1792822787742489222, + "sample_age_s": 0.408371292, + "heartbeat_age_s": 0.398361066, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822788150863718, + "duration_s": 9.741e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822788150864699, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822788150866866, + "duration_s": 2.167e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822788150867921, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822788150974680, + "duration_s": 0.000106759 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 41, + "ready_token": "acbf95b1bfec44d6ac146112bb504e16", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141936_00041.ready.json", + "arm_request_id": "7c2e9c1be4394f7ab27a4aa9b1116162", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3008, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786227751370, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822788238416846, + "capture_count": 429, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.140625, + "gripper_gap_mm": 84.34740860649472, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822788242511883, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822788257670674 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822787962675411, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7574, + "displayed_count": 5929, + "dropped_count": 1643, + "decode_error_count": 0, + "last_receive_time_ns": 1792822787851708917, + "last_frame_time_ns": 1792822787826524919, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786227751370, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822788238416846, + "capture_count": 429, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.140625, + "gripper_gap_mm": 84.34740860649472, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822788242511883, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822788257670674 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822788396910034, + "ended_time_ns": 1792822788403423256, + "duration_s": 0.000202517, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822788398384292, + "ok": true, + "ended_time_ns": 1792822788398392478, + "duration_s": 8.186e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822788398394385, + "ok": true, + "ended_time_ns": 1792822788398397459, + "duration_s": 3.074e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822788398397922, + "ok": true, + "ended_time_ns": 1792822788398400959, + "duration_s": 3.037e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822788398401329, + "ok": true, + "ended_time_ns": 1792822788398572791, + "duration_s": 0.000171462 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822788398573754, + "ok": true, + "ended_time_ns": 1792822788398577050, + "duration_s": 3.296e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822788398577568, + "ok": true, + "ended_time_ns": 1792822788398580254, + "duration_s": 2.686e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822788398580568, + "ok": true, + "ended_time_ns": 1792822788398582198, + "duration_s": 1.63e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_141948_00042", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141948_00042", + "--control-generation", + "42", + "--ready-token", + "53d8ff3972ca4ae3bf928bba21ab5bb9", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822788416622130, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": 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"configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822788398380200, + "ended_time_ns": 1792822788398582717, + "duration_s": 0.000202517, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822788398384292, + "ok": true, + "ended_time_ns": 1792822788398392478, + "duration_s": 8.186e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822788398394385, + "ok": true, + "ended_time_ns": 1792822788398397459, + "duration_s": 3.074e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822788398397922, + "ok": true, + "ended_time_ns": 1792822788398400959, + "duration_s": 3.037e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822788398401329, + "ok": true, + "ended_time_ns": 1792822788398572791, + "duration_s": 0.000171462 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822788398573754, + "ok": true, + "ended_time_ns": 1792822788398577050, + "duration_s": 3.296e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822788398577568, + "ok": true, + "ended_time_ns": 1792822788398580254, + "duration_s": 2.686e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822788398580568, + "ok": true, + "ended_time_ns": 1792822788398582198, + "duration_s": 1.63e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 42, + "ready_token": "53d8ff3972ca4ae3bf928bba21ab5bb9", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3009, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786227751370, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822788238416846, + "capture_count": 429, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.140625, + "gripper_gap_mm": 84.34740860649472, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822788242511883, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822788257670674 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822787962675411, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7574, + "displayed_count": 5929, + "dropped_count": 1643, + "decode_error_count": 0, + "last_receive_time_ns": 1792822787851708917, + "last_frame_time_ns": 1792822787826524919, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141936_00041", + "generation": 41, + "session_count": 41, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786227751370, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822788238416846, + "capture_count": 429, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.140625, + "gripper_gap_mm": 84.34740860649472, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822788242511883, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822788257670674 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822788406652075, + "ended_time_ns": 1792822788427941602 + }, + "pi_start_request_time_ns": 1792822788427947661, + "capture_start_time_ns": 1792822791874913578, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822796953335962, + "capture_stop_time_ns": 1792822797918451591, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_141948_00042", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141948_00042", + "--control-generation", + "42", + "--ready-token", + "53d8ff3972ca4ae3bf928bba21ab5bb9", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822788416622130, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "capture_start_time_ns": 1792822791874913578, + "capture_stop_time_ns": 1792822797918451591, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/right_hand", + "timing": { + "server_start_request_time_ns": 1792822788411481824, + "subprocess_popen_time_ns": 1792822788416622130, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822788467619102, + "validate_start_time_ns": 1792822789402672836, + "session_dir_create_start_time_ns": 1792822788468436817, + "session_dir_create_end_time_ns": 1792822788470085414, + "as5600_init_start_time_ns": 1792822788471159145, + "as5600_init_end_time_ns": 1792822788472006063, + "as5600_zero_start_time_ns": 1792822788473358310, + "as5600_zero_end_time_ns": 1792822789278449349, + "camera_init_start_time_ns": 1792822789280758939, + "camera_init_end_time_ns": 1792822789284347185, + "camera_start_start_time_ns": 1792822789286324334, + "camera_start_end_time_ns": 1792822789287706026, + "camera_first_frame_wait_start_time_ns": 1792822789289113420, + "camera_first_frame_wait_end_time_ns": 1792822789291067940, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822789292302836, + "armed_time_ns": 1792822789401589234, + "waiting_t0_time_ns": 1792822789404565060, + "recording_start_time_ns": 1792822791877724808, + "stop_request_time_ns": 1792822796956528773, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822788398380200, + "ended_time_ns": 1792822788398582717, + "duration_s": 0.000202517, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822788398384292, + "ok": true, + "ended_time_ns": 1792822788398392478, + "duration_s": 8.186e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822788398394385, + "ok": true, + "ended_time_ns": 1792822788398397459, + "duration_s": 3.074e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822788398397922, + "ok": true, + "ended_time_ns": 1792822788398400959, + "duration_s": 3.037e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822788398401329, + "ok": true, + "ended_time_ns": 1792822788398572791, + "duration_s": 0.000171462 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822788398573754, + "ok": true, + "ended_time_ns": 1792822788398577050, + "duration_s": 3.296e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822788398577568, + "ok": true, + "ended_time_ns": 1792822788398580254, + "duration_s": 2.686e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822788398580568, + "ok": true, + "ended_time_ns": 1792822788398582198, + "duration_s": 1.63e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 42, + "ready_token": "53d8ff3972ca4ae3bf928bba21ab5bb9", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "arm_request_id": "e19ab7fc60964421876a8e4132ff375b", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3009, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 41, + "last_bootstrap_time_ns": 1792822786227751370, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822788462539833, + "capture_count": 438, + "capture_error_count": 0, + "writer_count": 208, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.140625, + "gripper_gap_mm": 84.34740860649472, + "status_ok": true, + "queue_size": 600, + "queue_depth": 183, + "max_queue_depth": 183, + "read_count": 183, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822788459472119, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822788464199633 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822796954377572, + "ended_time_ns": 1792822796965833770, + "capture_stop_time_ns": 1792822797918451591, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141948_00042", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141948_00042", + "--control-generation", + "42", + "--ready-token", + "53d8ff3972ca4ae3bf928bba21ab5bb9", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822799001127375, + "ended_time_ns": 1792822799016783686, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "capture_start_time_ns": 1792822791874913578, + "capture_stop_time_ns": 1792822797918451591, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/right_hand", + "timing": { + "server_start_request_time_ns": 1792822788411481824, + 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1792822788472006063, + "as5600_zero_start_time_ns": 1792822788473358310, + "as5600_zero_end_time_ns": 1792822789278449349, + "camera_init_start_time_ns": 1792822789280758939, + "camera_init_end_time_ns": 1792822789284347185, + "camera_start_start_time_ns": 1792822789286324334, + "camera_start_end_time_ns": 1792822789287706026, + "camera_first_frame_wait_start_time_ns": 1792822789289113420, + "camera_first_frame_wait_end_time_ns": 1792822789291067940, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822789292302836, + "armed_time_ns": 1792822789401589234, + "waiting_t0_time_ns": 1792822789404565060, + "recording_start_time_ns": 1792822791877724808, + "stop_request_time_ns": 1792822796961225194, + "finalized_time_ns": 1792822797924245456 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822788398380200, + "ended_time_ns": 1792822788398582717, + "duration_s": 0.000202517, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822788398384292, + "ok": true, + "ended_time_ns": 1792822788398392478, + "duration_s": 8.186e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822788398394385, + "ok": true, + "ended_time_ns": 1792822788398397459, + "duration_s": 3.074e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822788398397922, + "ok": true, + "ended_time_ns": 1792822788398400959, + "duration_s": 3.037e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822788398401329, + "ok": true, + "ended_time_ns": 1792822788398572791, + "duration_s": 0.000171462 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822788398573754, + "ok": true, + "ended_time_ns": 1792822788398577050, + "duration_s": 3.296e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822788398577568, + "ok": true, + "ended_time_ns": 1792822788398580254, + "duration_s": 2.686e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822788398580568, + "ok": true, + "ended_time_ns": 1792822788398582198, + "duration_s": 1.63e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 42, + "ready_token": "53d8ff3972ca4ae3bf928bba21ab5bb9", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "arm_request_id": "e19ab7fc60964421876a8e4132ff375b", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3009, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798730140599, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822798728086654, + "capture_count": 379, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.052734375, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822798728142672, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822798735450051 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, 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"line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 42, + "ready_token": "733d2780596e45809ae566f2f9b3c970", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "arm_request_id": "e19ab7fc60964421876a8e4132ff375b", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2181, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798748422269, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822800282564456, + "capture_count": 443, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.30648118556353, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 141, + "max_queue_depth": 141, + "read_count": 141, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822800274765043, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822800290745902 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822800062214181, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8163, + "displayed_count": 7943, + "dropped_count": 220, + "decode_error_count": 0, + "last_receive_time_ns": 1792822799963525083, + "last_frame_time_ns": 1792822800059377923, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798748422269, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822800282564456, + "capture_count": 443, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.30648118556353, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 141, + "max_queue_depth": 141, + "read_count": 141, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822800274765043, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822800290745902 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822800431774997, + "ended_time_ns": 1792822800442897012, + "duration_s": 0.001682052, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822800430664834, + "ended_time_ns": 1792822800430895664, + "duration_s": 0.00023083, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822800430669167, + "ok": true, + "ended_time_ns": 1792822800430678056, + "duration_s": 8.889e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822800430679259, + "ok": true, + "ended_time_ns": 1792822800430682204, + "duration_s": 2.945e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822800430682778, + "ok": true, + "ended_time_ns": 1792822800430685685, + "duration_s": 2.907e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822800430686074, + "ok": true, + "ended_time_ns": 1792822800430883405, + "duration_s": 0.000197331 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822800430885016, + "ok": true, + "ended_time_ns": 1792822800430889534, + "duration_s": 4.518e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822800430890053, + "ok": true, + "ended_time_ns": 1792822800430892553, + "duration_s": 2.5e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822800430892905, + "ok": true, + "ended_time_ns": 1792822800430895275, + "duration_s": 2.37e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822800432054148, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822800282564456, + "frame_age_s": 0.149521544, + "heartbeat_age_s": 0.14132269, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822800432091000, + "duration_s": 3.6852e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822800432093240, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 102.30648118556353, + "sample_observed_time_ns": 1792822800274765043, + "sample_age_s": 0.157336012, + "heartbeat_age_s": 0.141350468, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822800432104592, + "duration_s": 1.1352e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822800432108777, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822800432240479, + "duration_s": 0.000131702 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822800442917461, + "ended_time_ns": 1792822800542670007, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141948_00042", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141948_00042", + "--control-generation", + "42", + "--ready-token", + "53d8ff3972ca4ae3bf928bba21ab5bb9", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822800542688689, + "ended_time_ns": 1792822800553602207, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "capture_start_time_ns": 1792822791874913578, + "capture_stop_time_ns": 1792822797918451591, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/right_hand", + "timing": { + "server_start_request_time_ns": 1792822788411481824, + "subprocess_popen_time_ns": 1792822788416622130, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822788467619102, + "validate_start_time_ns": 1792822789402672836, + "session_dir_create_start_time_ns": 1792822788468436817, + "session_dir_create_end_time_ns": 1792822788470085414, + "as5600_init_start_time_ns": 1792822788471159145, + "as5600_init_end_time_ns": 1792822788472006063, + "as5600_zero_start_time_ns": 1792822788473358310, + "as5600_zero_end_time_ns": 1792822789278449349, + "camera_init_start_time_ns": 1792822789280758939, + "camera_init_end_time_ns": 1792822789284347185, + "camera_start_start_time_ns": 1792822789286324334, + "camera_start_end_time_ns": 1792822789287706026, + "camera_first_frame_wait_start_time_ns": 1792822789289113420, + "camera_first_frame_wait_end_time_ns": 1792822789291067940, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822789292302836, + "armed_time_ns": 1792822789401589234, + "waiting_t0_time_ns": 1792822789404565060, + "recording_start_time_ns": 1792822791877724808, + "stop_request_time_ns": 1792822796961225194, + "finalized_time_ns": 1792822797924245456 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822788398380200, + "ended_time_ns": 1792822788398582717, + "duration_s": 0.000202517, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822788398384292, + "ok": true, + "ended_time_ns": 1792822788398392478, + "duration_s": 8.186e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822788398394385, + "ok": true, + "ended_time_ns": 1792822788398397459, + "duration_s": 3.074e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822788398397922, + "ok": true, + "ended_time_ns": 1792822788398400959, + "duration_s": 3.037e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822788398401329, + "ok": true, + "ended_time_ns": 1792822788398572791, + "duration_s": 0.000171462 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822788398573754, + "ok": true, + "ended_time_ns": 1792822788398577050, + "duration_s": 3.296e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822788398577568, + "ok": true, + "ended_time_ns": 1792822788398580254, + "duration_s": 2.686e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822788398580568, + "ok": true, + "ended_time_ns": 1792822788398582198, + "duration_s": 1.63e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 42, + "ready_token": "53d8ff3972ca4ae3bf928bba21ab5bb9", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "arm_request_id": "e19ab7fc60964421876a8e4132ff375b", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3009, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798730140599, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822800227093072, + "capture_count": 439, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.052734375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822800244732508, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822800252620141 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822800318675146, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7681, + "displayed_count": 6003, + "dropped_count": 1676, + "decode_error_count": 0, + "last_receive_time_ns": 1792822800262439257, + "last_frame_time_ns": 1792822800183927382, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798730140599, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822800227093072, + "capture_count": 439, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.052734375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822800244732508, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822800252620141 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822800575732484, + "ended_time_ns": 1792822800584854796, + "duration_s": 0.001069694, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822800578113318, + "ended_time_ns": 1792822800578326853, + "duration_s": 0.000213535, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822800578116763, + "ok": true, + "ended_time_ns": 1792822800578124744, + "duration_s": 7.981e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822800578125763, + "ok": true, + "ended_time_ns": 1792822800578128559, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822800578129003, + "ok": true, + "ended_time_ns": 1792822800578132114, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822800578132466, + "ok": true, + "ended_time_ns": 1792822800578315650, + "duration_s": 0.000183184 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822800578317113, + "ok": true, + "ended_time_ns": 1792822800578321205, + "duration_s": 4.092e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822800578321798, + "ok": true, + "ended_time_ns": 1792822800578324316, + "duration_s": 2.518e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822800578324668, + "ok": true, + "ended_time_ns": 1792822800578326316, + "duration_s": 1.648e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822800578933644, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822800227093072, + "frame_age_s": 0.351883498, + "heartbeat_age_s": 0.326325077, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822800578981403, + "duration_s": 4.7759e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822800578983070, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 279.052734375, + "sample_observed_time_ns": 1792822800244732508, + "sample_age_s": 0.334258469, + "heartbeat_age_s": 0.326365781, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822800578993718, + "duration_s": 1.0648e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822800578998236, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822800579096606, + "duration_s": 9.837e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822800584877336, + "ended_time_ns": 1792822800684731722, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823121163755384, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823117305071216, + "ended_time_ns": 1792823117319606583, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823117319685064, + "ended_time_ns": 1792823117363175774, + "transferred_bytes": 13687, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,687 bytes\nTotal transferred file size: 13,687 bytes\nLiteral data: 13,687 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,822\n\nsent 46 bytes received 13,822 bytes 27,736.00 bytes/sec\ntotal size is 13,687 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823117363483111, + "ended_time_ns": 1792823121161807710, + "transferred_bytes": 9133041, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 9,133,041 bytes\nTotal transferred file size: 9,133,041 bytes\nLiteral data: 9,133,041 bytes\nMatched data: 0 bytes\nFile list size: 225\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 9,135,684\n\nsent 168 bytes received 9,135,684 bytes 2,030,189.33 bytes/sec\ntotal size is 9,133,041 speedup is 1.00" + } + ], + "transferred_bytes": 9146728, + "copied_local_bytes": 9628214, + "started_time_ns": 1792823117304725500, + "ended_time_ns": 1792823121162791997 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823117305519864, + "ended_time_ns": 1792823117317992952, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823117318075761, + "ended_time_ns": 1792823117367875389, + "transferred_bytes": 13699, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,699 bytes\nTotal transferred file size: 13,699 bytes\nLiteral data: 13,699 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,834\n\nsent 46 bytes received 13,834 bytes 27,760.00 bytes/sec\ntotal size is 13,699 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823117368207096, + "ended_time_ns": 1792823117916103521, + "transferred_bytes": 8830141, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,830,141 bytes\nTotal transferred file size: 8,830,141 bytes\nLiteral data: 8,830,141 bytes\nMatched data: 0 bytes\nFile list size: 216\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,832,703\n\nsent 168 bytes received 8,832,703 bytes 17,665,742.00 bytes/sec\ntotal size is 8,830,141 speedup is 1.00" + } + ], + "transferred_bytes": 8843840, + "copied_local_bytes": 9307457, + "started_time_ns": 1792823117304961614, + "ended_time_ns": 1792823117916673310 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_142000_00043", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823376157981908, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823375753076081, + "ended_time_ns": 1792823376157726166, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823375753076081, + "ended_time_ns": 1792823375971211248, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142000_00043", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142000_00043_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142000_00043 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142000_00043_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142000_00043_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142000_00043_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142000_00043\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822804280208968\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822804280208968，vive_T0=1792822804280208968，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822811041891051，vive_Tstop=1792822811041891051，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008085s，first=1792822804288294328，T0=1792822804280208968，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003624s，last=1792822811038267337，Tstop=1792822811041891051，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1351\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00079973653123 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00079973653123 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1351，metadata 1351\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0007982639102 Hz，最低 150.0 Hz，时长 6.7499730587005615 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0007982639102 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006083250045776367s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.99999999943896..1.0000000005993532，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0010646376466150406m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.34167961565175986deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=271 duration=6.775s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=271，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 271，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=270，rows=271，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=271，monotonic违规=0，估算频率=40.004820296366994Hz，最大间隔=0.034683533s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 271，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.004831054517844 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.004831054517844 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.034683366s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 406，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 42.6103..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 406，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.999762516495494 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999762516495494 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018388512s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=406，bad_rows=0，monotonic违规=0，估算频率=59.99975016992914Hz，最大间隔=0.018389512s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 271，metadata 271\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 406，metadata 406\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 271，timestamps 271，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=271，timestamps=271，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.026s，video=6.775s，timestamps=6.749184858s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.001s，camera=6.749184858s，clamp=6.750026717000004s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822804280208968，pi_T0=1792822804280208968，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822811041891051，pi_Tstop=1792822811041891051，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.000145s，first=1792822804280353952，T0=1792822804280208968，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.011234s，first=1792822804291442859，T0=1792822804280208968，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.012352s，last=1792822811029538810，Tstop=1792822811041891051，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000421s，last=1792822811041469576，Tstop=1792822811041891051，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.000788s，vive=6.749973009s，camera=6.749184858s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.000054s，vive=6.749973009s，clamp=6.750026717000004s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.007940s，vive_first=1792822804288294328，camera_first=1792822804280353952，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.003149s，vive_first=1792822804288294328，clamp_first=1792822804291442859，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.008729s，vive_last=1792822811038267337，camera_last=1792822811029538810，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.003202s，vive_last=1792822811038267337，clamp_last=1792822811041469576，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142000_00043_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823375971565066, + "ended_time_ns": 1792823376157726166, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142000_00043", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142000_00043_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142000_00043 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142000_00043_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142000_00043_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142000_00043_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142000_00043\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822804280208968\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822804280208968，vive_T0=1792822804280208968，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822811041891051，vive_Tstop=1792822811041891051，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008085s，first=1792822804288294328，T0=1792822804280208968，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003624s，last=1792822811038267337，Tstop=1792822811041891051，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1351\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00079973653123 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00079973653123 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1351，metadata 1351\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0007982639102 Hz，最低 150.0 Hz，时长 6.7499730587005615 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0007982639102 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006083250045776367s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994368854..1.0000000005669023，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.005505609634097753m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.4293504392747695deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=270 duration=6.75s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=270，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 270，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=269，rows=270，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=270，monotonic违规=0，估算频率=40.026866211159444Hz，最大间隔=0.032276953s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 270，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.026864996146095 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.026864996146095 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032276898s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 405，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 405，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.999949674299664 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999949674299664 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021750214s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=405，bad_rows=0，monotonic违规=0，估算频率=59.99994803469847Hz，最大间隔=0.021750639s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 270，metadata 270\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 405，metadata 405\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 270，timestamps 270，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=270，timestamps=270，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.030s，video=6.75s，timestamps=6.7204863539999975s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.013s，camera=6.7204863539999975s，clamp=6.733338980999997s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822804280208968，pi_T0=1792822804280208968，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822811041891051，pi_Tstop=1792822811041891051，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.019917s，first=1792822804300126044，T0=1792822804280208968，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.014527s，first=1792822804294735536，T0=1792822804280208968，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.021279s，last=1792822811020612398，Tstop=1792822811041891051，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.013817s，last=1792822811028074517，Tstop=1792822811041891051，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.029487s，vive=6.749973009s，camera=6.7204863539999975s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.016634s，vive=6.749973009s，clamp=6.733338980999997s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.011832s，vive_first=1792822804288294328，camera_first=1792822804300126044，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.006441s，vive_first=1792822804288294328，clamp_first=1792822804294735536，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.017655s，vive_last=1792822811038267337，camera_last=1792822811020612398，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.010193s，vive_last=1792822811038267337，clamp_last=1792822811028074517，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142000_00043_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142000_00043_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142000_00043\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822804280208968\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822804280208968，vive_T0=1792822804280208968，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822811041891051，vive_Tstop=1792822811041891051，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008085s，first=1792822804288294328，T0=1792822804280208968，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003624s，last=1792822811038267337，Tstop=1792822811041891051，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1351\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00079973653123 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00079973653123 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1351，metadata 1351\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0007982639102 Hz，最低 150.0 Hz，时长 6.7499730587005615 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0007982639102 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006083250045776367s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.99999999943896..1.0000000005993532，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0010646376466150406m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.34167961565175986deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=271 duration=6.775s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=271，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 271，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=270，rows=271，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=271，monotonic违规=0，估算频率=40.004820296366994Hz，最大间隔=0.034683533s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 271，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.004831054517844 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.004831054517844 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.034683366s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 406，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 42.6103..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 406，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.999762516495494 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999762516495494 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018388512s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=406，bad_rows=0，monotonic违规=0，估算频率=59.99975016992914Hz，最大间隔=0.018389512s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 271，metadata 271\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 406，metadata 406\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 271，timestamps 271，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=271，timestamps=271，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.026s，video=6.775s，timestamps=6.749184858s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.001s，camera=6.749184858s，clamp=6.750026717000004s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822804280208968，pi_T0=1792822804280208968，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822811041891051，pi_Tstop=1792822811041891051，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.000145s，first=1792822804280353952，T0=1792822804280208968，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.011234s，first=1792822804291442859，T0=1792822804280208968，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.012352s，last=1792822811029538810，Tstop=1792822811041891051，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000421s，last=1792822811041469576，Tstop=1792822811041891051，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.000788s，vive=6.749973009s，camera=6.749184858s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.000054s，vive=6.749973009s，clamp=6.750026717000004s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.007940s，vive_first=1792822804288294328，camera_first=1792822804280353952，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.003149s，vive_first=1792822804288294328，clamp_first=1792822804291442859，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.008729s，vive_last=1792822811038267337，camera_last=1792822811029538810，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.003202s，vive_last=1792822811038267337，clamp_last=1792822811041469576，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142000_00043_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142000_00043\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822804280208968\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822804280208968，vive_T0=1792822804280208968，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822811041891051，vive_Tstop=1792822811041891051，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008085s，first=1792822804288294328，T0=1792822804280208968，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003624s，last=1792822811038267337，Tstop=1792822811041891051，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1351\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00079973653123 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00079973653123 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1351，metadata 1351\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0007982639102 Hz，最低 150.0 Hz，时长 6.7499730587005615 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0007982639102 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006083250045776367s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994368854..1.0000000005669023，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.005505609634097753m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.4293504392747695deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=270 duration=6.75s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=270，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 270，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=269，rows=270，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=270，monotonic违规=0，估算频率=40.026866211159444Hz，最大间隔=0.032276953s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 270，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.026864996146095 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.026864996146095 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032276898s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 405，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 405，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.999949674299664 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999949674299664 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021750214s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=405，bad_rows=0，monotonic违规=0，估算频率=59.99994803469847Hz，最大间隔=0.021750639s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 270，metadata 270\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 405，metadata 405\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 270，timestamps 270，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=270，timestamps=270，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.030s，video=6.75s，timestamps=6.7204863539999975s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.013s，camera=6.7204863539999975s，clamp=6.733338980999997s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822804280208968，pi_T0=1792822804280208968，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822811041891051，pi_Tstop=1792822811041891051，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.019917s，first=1792822804300126044，T0=1792822804280208968，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.014527s，first=1792822804294735536，T0=1792822804280208968，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.021279s，last=1792822811020612398，Tstop=1792822811041891051，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.013817s，last=1792822811028074517，Tstop=1792822811041891051，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.029487s，vive=6.749973009s，camera=6.7204863539999975s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.016634s，vive=6.749973009s，clamp=6.733338980999997s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.011832s，vive_first=1792822804288294328，camera_first=1792822804300126044，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.006441s，vive_first=1792822804288294328，clamp_first=1792822804294735536，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.017655s，vive_last=1792822811038267337，camera_last=1792822811020612398，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.010193s，vive_last=1792822811038267337，clamp_last=1792822811028074517，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142000_00043_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142000_00043/control/stop_left_hand.flag b/stack the blocks/session_20261024_142000_00043/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..3132ce4599fcd7c36681270f6eeb52d35e5a2c24 --- /dev/null +++ b/stack the blocks/session_20261024_142000_00043/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822811041891051 \ No newline at end of file diff --git a/stack the blocks/session_20261024_142000_00043/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the blocks/session_20261024_142000_00043/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 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1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "button_control": { + "enabled": true, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "_source": { + "path": "/home/zhang/TeleUMI/config/teleumi_config.json" + } + }, + "diagnostics": { + "stage": "idle", + "timing": { + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822800854018636, + "validate_start_time_ns": 1792822801814601098, + "session_dir_create_start_time_ns": 1792822800855086011, + "session_dir_create_end_time_ns": 1792822800856715452, + "as5600_init_start_time_ns": 1792822800860433272, + "as5600_init_end_time_ns": 1792822800861299242, + "as5600_zero_start_time_ns": 1792822800885014423, + "as5600_zero_end_time_ns": 1792822801694082294, + "camera_init_start_time_ns": 1792822801695582515, + "camera_init_end_time_ns": 1792822801697401453, + "camera_start_start_time_ns": 1792822801698513142, + "camera_start_end_time_ns": 1792822801700870703, + "camera_first_frame_wait_start_time_ns": 1792822801702282073, + "camera_first_frame_wait_end_time_ns": 1792822801704133455, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822801705689156, + "armed_time_ns": 1792822801813652963, + "waiting_t0_time_ns": 1792822801816017005, + "recording_start_time_ns": 1792822804281926857, + "stop_request_time_ns": 1792822810077402198, + "finalized_time_ns": 1792822811046800449 + }, + "last_error": null, + "capture_start_time_ns": 1792822804280208968, + "capture_stop_time_ns": 1792822811041891051 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "left_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822804280208968, + "capture_stop_time_ns": 1792822811041891051, + "effective_capture_stop_time_ns": 1792822811041891051, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_142000_00043", + "control_generation": 43, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822804280208968, + "capture_stop_time_ns": 1792822811041891051 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 102.91992187500003, + "reference_source": "max_open_init", + "zero_angle_deg": 102.91992187500003, + "zero_source": "max_open_init", + "init_total_samples": 49, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 1.1834e-05, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822804281831432, + "camera_frame_count": 271, + "camera_started_time_ns": 1792822801697397287, + "camera_stopped_time_ns": 1792822811045253636, + "camera_actual_fps": 28.99060382212555, + "camera_first_frame_time_ns": 1792822804280353952, + "camera_last_frame_time_ns": 1792822811029538810, + "camera_frame_timestamp_fps": 40.004831054517844, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822811029538810, + "capture_count": 374, + "capture_error_count": 0, + "writer_count": 271, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 406, + "clamp_first_sample_time_ns": 1792822804291442859, + "clamp_last_sample_time_ns": 1792822811041469576, + "clamp_actual_hz": 59.99976251649554, + "clamp_value_min": 42.61034510056555, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 205, + "read_count": 787, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1665 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..054f7e7960cd9c4473c8e7d589ae527b5b54adf3 --- /dev/null +++ b/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822800775057742, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_142000_00043", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141948_00042", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141948_00042", + "--control-generation", + "42", + "--ready-token", + "733d2780596e45809ae566f2f9b3c970", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822800775596567, + "ended_time_ns": 1792822800795774366, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "capture_start_time_ns": 1792822791874913578, + "capture_stop_time_ns": 1792822797918451591, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/left_hand", + "timing": { + "server_start_request_time_ns": 1792822788390059425, + "subprocess_popen_time_ns": 1792822788395402539, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822788417561296, + "validate_start_time_ns": 1792822789413818204, + "session_dir_create_start_time_ns": 1792822788419801618, + "session_dir_create_end_time_ns": 1792822788421693963, + "as5600_init_start_time_ns": 1792822788425169490, + "as5600_init_end_time_ns": 1792822788426046015, + "as5600_zero_start_time_ns": 1792822788427729604, + "as5600_zero_end_time_ns": 1792822789230148861, + "camera_init_start_time_ns": 1792822789231616378, + "camera_init_end_time_ns": 1792822789233421298, + "camera_start_start_time_ns": 1792822789234256472, + "camera_start_end_time_ns": 1792822789235581288, + "camera_first_frame_wait_start_time_ns": 1792822789236963250, + "camera_first_frame_wait_end_time_ns": 1792822789241978368, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822789243975341, + "armed_time_ns": 1792822789412225040, + "waiting_t0_time_ns": 1792822789415920731, + "recording_start_time_ns": 1792822791879394542, + "stop_request_time_ns": 1792822797051745842, + "finalized_time_ns": 1792822797927730924 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822800430562279, + "ended_time_ns": 1792822800432244331, + "duration_s": 0.001682052, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822800430664834, + "ended_time_ns": 1792822800430895664, + "duration_s": 0.00023083, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822800430669167, + "ok": true, + "ended_time_ns": 1792822800430678056, + "duration_s": 8.889e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822800430679259, + "ok": true, + "ended_time_ns": 1792822800430682204, + "duration_s": 2.945e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822800430682778, + "ok": true, + "ended_time_ns": 1792822800430685685, + "duration_s": 2.907e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822800430686074, + "ok": true, + "ended_time_ns": 1792822800430883405, + "duration_s": 0.000197331 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822800430885016, + "ok": true, + "ended_time_ns": 1792822800430889534, + "duration_s": 4.518e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822800430890053, + "ok": true, + "ended_time_ns": 1792822800430892553, + "duration_s": 2.5e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822800430892905, + "ok": true, + "ended_time_ns": 1792822800430895275, + "duration_s": 2.37e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822800432054148, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822800282564456, + "frame_age_s": 0.149521544, + "heartbeat_age_s": 0.14132269, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822800432091000, + "duration_s": 3.6852e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822800432093240, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 102.30648118556353, + "sample_observed_time_ns": 1792822800274765043, + "sample_age_s": 0.157336012, + "heartbeat_age_s": 0.141350468, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822800432104592, + "duration_s": 1.1352e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822800432105555, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822800432107759, + "duration_s": 2.204e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822800432108777, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822800432240479, + "duration_s": 0.000131702 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 42, + "ready_token": "733d2780596e45809ae566f2f9b3c970", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "arm_request_id": "e19ab7fc60964421876a8e4132ff375b", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2181, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798748422269, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822800282564456, + "capture_count": 443, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.30648118556353, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 141, + "max_queue_depth": 141, + "read_count": 141, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822800274765043, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822800290745902 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822800062214181, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8163, + "displayed_count": 7943, + "dropped_count": 220, + "decode_error_count": 0, + "last_receive_time_ns": 1792822799963525083, + "last_frame_time_ns": 1792822800059377923, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798748422269, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822800282564456, + "capture_count": 443, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.30648118556353, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 141, + "max_queue_depth": 141, + "read_count": 141, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822800274765043, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822800290745902 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822800798913102, + "ended_time_ns": 1792822800811569074, + "duration_s": 0.000205608, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822800802497978, + "ok": true, + "ended_time_ns": 1792822800802506089, + "duration_s": 8.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822800802507811, + "ok": true, + "ended_time_ns": 1792822800802510626, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822800802511052, + "ok": true, + "ended_time_ns": 1792822800802513755, + "duration_s": 2.703e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822800802514089, + "ok": true, + "ended_time_ns": 1792822800802689309, + "duration_s": 0.00017522 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822800802690438, + "ok": true, + "ended_time_ns": 1792822800802693827, + "duration_s": 3.389e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822800802694327, + "ok": true, + "ended_time_ns": 1792822800802696753, + "duration_s": 2.426e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822800802697105, + "ok": true, + "ended_time_ns": 1792822800802699234, + "duration_s": 2.129e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_142000_00043", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142000_00043", + "--control-generation", + "43", + "--ready-token", + "dd5b09e9879244e18c780f2170094ca5", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822800821573684, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/left_hand", + "timing": { + "server_start_request_time_ns": 1792822800815302324, + "subprocess_popen_time_ns": 1792822800821573684, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822800802494015, + "ended_time_ns": 1792822800802699623, + "duration_s": 0.000205608, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822800802497978, + "ok": true, + "ended_time_ns": 1792822800802506089, + "duration_s": 8.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822800802507811, + "ok": true, + "ended_time_ns": 1792822800802510626, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822800802511052, + "ok": true, + "ended_time_ns": 1792822800802513755, + "duration_s": 2.703e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822800802514089, + "ok": true, + "ended_time_ns": 1792822800802689309, + "duration_s": 0.00017522 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822800802690438, + "ok": true, + "ended_time_ns": 1792822800802693827, + "duration_s": 3.389e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822800802694327, + "ok": true, + "ended_time_ns": 1792822800802696753, + "duration_s": 2.426e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822800802697105, + "ok": true, + "ended_time_ns": 1792822800802699234, + "duration_s": 2.129e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 43, + "ready_token": "dd5b09e9879244e18c780f2170094ca5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2182, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798748422269, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822800782147029, + "capture_count": 463, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.30648118556353, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 172, + "max_queue_depth": 172, + "read_count": 172, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822800791431979, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822800795302352 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822800062214181, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8163, + "displayed_count": 7943, + "dropped_count": 220, + "decode_error_count": 0, + "last_receive_time_ns": 1792822799963525083, + "last_frame_time_ns": 1792822800059377923, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798748422269, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822800782147029, + "capture_count": 463, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.30648118556353, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 172, + "max_queue_depth": 172, + "read_count": 172, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822800791431979, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822800795302352 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822800815198397, + "ended_time_ns": 1792822800839754410 + }, + "pi_start_request_time_ns": 1792822800839763987, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822800843128506, + "capture_start_time_ns": 1792822804280208968, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822810075881289, + "capture_stop_time_ns": 1792822811041891051, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142000_00043", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142000_00043", + "--control-generation", + "43", + "--ready-token", + "dd5b09e9879244e18c780f2170094ca5", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822800821573684, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "capture_start_time_ns": 1792822804280208968, + "capture_stop_time_ns": 1792822811041891051, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/left_hand", + "timing": { + "server_start_request_time_ns": 1792822800815302324, + "subprocess_popen_time_ns": 1792822800821573684, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822800854018636, + "validate_start_time_ns": 1792822801814601098, + "session_dir_create_start_time_ns": 1792822800855086011, + "session_dir_create_end_time_ns": 1792822800856715452, + "as5600_init_start_time_ns": 1792822800860433272, + "as5600_init_end_time_ns": 1792822800861299242, + "as5600_zero_start_time_ns": 1792822800885014423, + "as5600_zero_end_time_ns": 1792822801694082294, + "camera_init_start_time_ns": 1792822801695582515, + "camera_init_end_time_ns": 1792822801697401453, + "camera_start_start_time_ns": 1792822801698513142, + "camera_start_end_time_ns": 1792822801700870703, + "camera_first_frame_wait_start_time_ns": 1792822801702282073, + "camera_first_frame_wait_end_time_ns": 1792822801704133455, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822801705689156, + "armed_time_ns": 1792822801813652963, + "waiting_t0_time_ns": 1792822801816017005, + "recording_start_time_ns": 1792822804281926857, + "stop_request_time_ns": 1792822810075909088, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822800802494015, + "ended_time_ns": 1792822800802699623, + "duration_s": 0.000205608, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822800802497978, + "ok": true, + "ended_time_ns": 1792822800802506089, + "duration_s": 8.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822800802507811, + "ok": true, + "ended_time_ns": 1792822800802510626, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822800802511052, + "ok": true, + "ended_time_ns": 1792822800802513755, + "duration_s": 2.703e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822800802514089, + "ok": true, + "ended_time_ns": 1792822800802689309, + "duration_s": 0.00017522 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822800802690438, + "ok": true, + "ended_time_ns": 1792822800802693827, + "duration_s": 3.389e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822800802694327, + "ok": true, + "ended_time_ns": 1792822800802696753, + "duration_s": 2.426e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822800802697105, + "ok": true, + "ended_time_ns": 1792822800802699234, + "duration_s": 2.129e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 43, + "ready_token": "dd5b09e9879244e18c780f2170094ca5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "arm_request_id": "d1532b8c762849e793bee373a8bd9a4c", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2182, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798748422269, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822800832607387, + "capture_count": 465, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.30648118556353, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 175, + "max_queue_depth": 175, + "read_count": 175, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822800841436454, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822800850419851 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822810077052048, + "ended_time_ns": 1792822810092898723, + "capture_stop_time_ns": 1792822811041891051, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_142000_00043", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 147450 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 147259 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141685 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 146969 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 147259 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129673 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142000_00043", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142000_00043", + "--control-generation", + "43", + "--ready-token", + "dd5b09e9879244e18c780f2170094ca5", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822812071333239, + "ended_time_ns": 1792822812083598177, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "capture_start_time_ns": 1792822804280208968, + "capture_stop_time_ns": 1792822811041891051, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/left_hand", + "timing": { + "server_start_request_time_ns": 1792822800815302324, + "subprocess_popen_time_ns": 1792822800821573684, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822800854018636, + "validate_start_time_ns": 1792822801814601098, + "session_dir_create_start_time_ns": 1792822800855086011, + "session_dir_create_end_time_ns": 1792822800856715452, + "as5600_init_start_time_ns": 1792822800860433272, + "as5600_init_end_time_ns": 1792822800861299242, + "as5600_zero_start_time_ns": 1792822800885014423, + "as5600_zero_end_time_ns": 1792822801694082294, + "camera_init_start_time_ns": 1792822801695582515, + "camera_init_end_time_ns": 1792822801697401453, + "camera_start_start_time_ns": 1792822801698513142, + "camera_start_end_time_ns": 1792822801700870703, + "camera_first_frame_wait_start_time_ns": 1792822801702282073, + "camera_first_frame_wait_end_time_ns": 1792822801704133455, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822801705689156, + "armed_time_ns": 1792822801813652963, + "waiting_t0_time_ns": 1792822801816017005, + "recording_start_time_ns": 1792822804281926857, + "stop_request_time_ns": 1792822810077402198, + "finalized_time_ns": 1792822811046800449 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822800802494015, + "ended_time_ns": 1792822800802699623, + "duration_s": 0.000205608, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822800802497978, + "ok": true, + "ended_time_ns": 1792822800802506089, + "duration_s": 8.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822800802507811, + "ok": true, + "ended_time_ns": 1792822800802510626, + "duration_s": 2.815e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822800802511052, + "ok": true, + "ended_time_ns": 1792822800802513755, + "duration_s": 2.703e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822800802514089, + "ok": true, + "ended_time_ns": 1792822800802689309, + "duration_s": 0.00017522 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822800802690438, + "ok": true, + "ended_time_ns": 1792822800802693827, + "duration_s": 3.389e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822800802694327, + "ok": true, + "ended_time_ns": 1792822800802696753, + "duration_s": 2.426e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822800802697105, + "ok": true, + "ended_time_ns": 1792822800802699234, + "duration_s": 2.129e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 43, + "ready_token": "dd5b09e9879244e18c780f2170094ca5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "arm_request_id": "d1532b8c762849e793bee373a8bd9a4c", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2182, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811862221142, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822811849864123, + "capture_count": 407, + "capture_error_count": 0, + "writer_count": 271, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.87048339737716, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822811860288279, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822811865563726 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822811807946372, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8264, + "displayed_count": 8038, + "dropped_count": 225, + "decode_error_count": 0, + "last_receive_time_ns": 1792822811734619414, + "last_frame_time_ns": 1792822811706324554, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811862221142, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822811849864123, + "capture_count": 407, + "capture_error_count": 0, + "writer_count": 271, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.87048339737716, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822811860288279, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822811865563726 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792822812133556809, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792822812133555689 + } + }, + "updated_time_ns": 1792822812133559119 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..5608d30bdd450825e87fc06d2d9f99db08db9e18 --- /dev/null +++ b/stack the blocks/session_20261024_142000_00043/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822800845500455, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the 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0000000000000000000000000000000000000000..d3f9c9caf16d711b0ba3de75dd0091afbc6b1b63 --- /dev/null +++ b/stack the blocks/session_20261024_142000_00043/right_hand/Metadata/metadata.json @@ -0,0 +1,343 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "raspberry_pi_capture", + "created_time_ns": 1792822811050624927, + "platform": { + "system": "Linux", + "release": "6.12.75+rpt-rpi-2712", + "machine": "aarch64" + }, + "paths": { + "run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand", + "rgb_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand/RGB_Images", + "clamp_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Clamp_Data", + "metadata_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Metadata", + "video_path": "/home/zhang/teleumi-v2/datasets/stack the 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"/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + 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"button_control": { + "enabled": true, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "_source": { + "path": "/home/zhang/TeleUMI/config/teleumi_config.json" + } + }, + "diagnostics": { + "stage": "idle", + "timing": { + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822800874664623, + "validate_start_time_ns": 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1792822811049626843 + }, + "last_error": null, + "capture_start_time_ns": 1792822804280208968, + "capture_stop_time_ns": 1792822811041891051 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "right_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822804280208968, + "capture_stop_time_ns": 1792822811041891051, + "effective_capture_stop_time_ns": 1792822811041891051, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_142000_00043", + "control_generation": 43, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822804280208968, + "capture_stop_time_ns": 1792822811041891051 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 279.1040039076463, + "reference_source": "max_open_init", + "zero_angle_deg": 279.1040039076463, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.222e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822804285058697, + "camera_frame_count": 270, + "camera_started_time_ns": 1792822801690198847, + "camera_stopped_time_ns": 1792822811048144542, + "camera_actual_fps": 28.852486304153533, + "camera_first_frame_time_ns": 1792822804300126044, + "camera_last_frame_time_ns": 1792822811020612398, + "camera_frame_timestamp_fps": 40.02686499614608, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822811046940404, + "capture_count": 375, + "capture_error_count": 0, + "writer_count": 270, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 405, + "clamp_first_sample_time_ns": 1792822804294735536, + "clamp_last_sample_time_ns": 1792822811028074517, + "clamp_actual_hz": 59.999949674299636, + "clamp_value_min": 100.0, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 204, + "read_count": 788, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1702 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142000_00043/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142000_00043/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..ec9dd7748d4489416fb22bb0472863090fb7344d --- /dev/null +++ b/stack the blocks/session_20261024_142000_00043/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822800779435940, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_142000_00043", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142000_00043/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_141948_00042", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_141948_00042", + "--control-generation", + "42", + "--ready-token", + "53d8ff3972ca4ae3bf928bba21ab5bb9", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822800780029881, + "ended_time_ns": 1792822800807146794, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.diagnostics.json", + "capture_start_time_ns": 1792822791874913578, + "capture_stop_time_ns": 1792822797918451591, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_141948_00042/right_hand", + "timing": { + "server_start_request_time_ns": 1792822788411481824, + "subprocess_popen_time_ns": 1792822788416622130, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822788467619102, + "validate_start_time_ns": 1792822789402672836, + "session_dir_create_start_time_ns": 1792822788468436817, + "session_dir_create_end_time_ns": 1792822788470085414, + "as5600_init_start_time_ns": 1792822788471159145, + "as5600_init_end_time_ns": 1792822788472006063, + "as5600_zero_start_time_ns": 1792822788473358310, + "as5600_zero_end_time_ns": 1792822789278449349, + "camera_init_start_time_ns": 1792822789280758939, + "camera_init_end_time_ns": 1792822789284347185, + "camera_start_start_time_ns": 1792822789286324334, + "camera_start_end_time_ns": 1792822789287706026, + "camera_first_frame_wait_start_time_ns": 1792822789289113420, + "camera_first_frame_wait_end_time_ns": 1792822789291067940, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822789292302836, + "armed_time_ns": 1792822789401589234, + "waiting_t0_time_ns": 1792822789404565060, + "recording_start_time_ns": 1792822791877724808, + "stop_request_time_ns": 1792822796961225194, + "finalized_time_ns": 1792822797924245456 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822800578028541, + "ended_time_ns": 1792822800579098235, + "duration_s": 0.001069694, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822800578113318, + "ended_time_ns": 1792822800578326853, + "duration_s": 0.000213535, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822800578116763, + "ok": true, + "ended_time_ns": 1792822800578124744, + "duration_s": 7.981e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822800578125763, + "ok": true, + "ended_time_ns": 1792822800578128559, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822800578129003, + "ok": true, + "ended_time_ns": 1792822800578132114, + "duration_s": 3.111e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822800578132466, + "ok": true, + "ended_time_ns": 1792822800578315650, + "duration_s": 0.000183184 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822800578317113, + "ok": true, + "ended_time_ns": 1792822800578321205, + "duration_s": 4.092e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822800578321798, + "ok": true, + "ended_time_ns": 1792822800578324316, + "duration_s": 2.518e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822800578324668, + "ok": true, + "ended_time_ns": 1792822800578326316, + "duration_s": 1.648e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822800578933644, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822800227093072, + "frame_age_s": 0.351883498, + "heartbeat_age_s": 0.326325077, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822800578981403, + "duration_s": 4.7759e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822800578983070, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 279.052734375, + "sample_observed_time_ns": 1792822800244732508, + "sample_age_s": 0.334258469, + "heartbeat_age_s": 0.326365781, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822800578993718, + "duration_s": 1.0648e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822800578994699, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822800578997199, + "duration_s": 2.5e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822800578998236, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822800579096606, + "duration_s": 9.837e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 42, + "ready_token": "53d8ff3972ca4ae3bf928bba21ab5bb9", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_141948_00042.ready.json", + "arm_request_id": "e19ab7fc60964421876a8e4132ff375b", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3009, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798730140599, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822800753455406, + "capture_count": 460, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.052734375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822800744743613, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822800757884237 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822800318675146, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7681, + "displayed_count": 6003, + "dropped_count": 1676, + "decode_error_count": 0, + "last_receive_time_ns": 1792822800262439257, + "last_frame_time_ns": 1792822800183927382, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798730140599, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822800753455406, + "capture_count": 460, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.052734375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822800744743613, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822800757884237 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822800809993067, + "ended_time_ns": 1792822800821998857, + "duration_s": 0.00020098, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822800815756703, + "ok": true, + "ended_time_ns": 1792822800815763944, + "duration_s": 7.241e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822800815765777, + "ok": true, + "ended_time_ns": 1792822800815768722, + "duration_s": 2.945e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822800815769203, + "ok": true, + "ended_time_ns": 1792822800815771962, + "duration_s": 2.759e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822800815772351, + "ok": true, + "ended_time_ns": 1792822800815942461, + "duration_s": 0.00017011 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822800815943683, + "ok": true, + "ended_time_ns": 1792822800815947609, + "duration_s": 3.926e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822800815948220, + "ok": true, + "ended_time_ns": 1792822800815950701, + "duration_s": 2.481e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822800815951072, + "ok": true, + "ended_time_ns": 1792822800815953201, + "duration_s": 2.129e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_142000_00043", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142000_00043", + "--control-generation", + "43", + "--ready-token", + "e9c51ce2b43840f29ae2694f867bd24e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822800832720756, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand", + "timing": { + "server_start_request_time_ns": 1792822800827620431, + "subprocess_popen_time_ns": 1792822800832720756, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822800815752740, + "ended_time_ns": 1792822800815953720, + "duration_s": 0.00020098, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822800815756703, + "ok": true, + "ended_time_ns": 1792822800815763944, + "duration_s": 7.241e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822800815765777, + "ok": true, + "ended_time_ns": 1792822800815768722, + "duration_s": 2.945e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822800815769203, + "ok": true, + "ended_time_ns": 1792822800815771962, + "duration_s": 2.759e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822800815772351, + "ok": true, + "ended_time_ns": 1792822800815942461, + "duration_s": 0.00017011 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822800815943683, + "ok": true, + "ended_time_ns": 1792822800815947609, + "duration_s": 3.926e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822800815948220, + "ok": true, + "ended_time_ns": 1792822800815950701, + "duration_s": 2.481e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822800815951072, + "ok": true, + "ended_time_ns": 1792822800815953201, + "duration_s": 2.129e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 43, + "ready_token": "e9c51ce2b43840f29ae2694f867bd24e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3010, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798730140599, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822800753455406, + "capture_count": 460, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.052734375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822800744743613, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822800757884237 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822800318675146, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7681, + "displayed_count": 6003, + "dropped_count": 1676, + "decode_error_count": 0, + "last_receive_time_ns": 1792822800262439257, + "last_frame_time_ns": 1792822800183927382, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_141948_00042", + "generation": 42, + "session_count": 42, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798730140599, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822800753455406, + "capture_count": 460, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.052734375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822800744743613, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822800757884237 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822800825314752, + "ended_time_ns": 1792822800844101312 + }, + "pi_start_request_time_ns": 1792822800844109082, + "capture_start_time_ns": 1792822804280208968, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822810222707603, + "capture_stop_time_ns": 1792822811041891051, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142000_00043", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142000_00043", + "--control-generation", + "43", + "--ready-token", + "e9c51ce2b43840f29ae2694f867bd24e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822800832720756, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "capture_start_time_ns": 1792822804280208968, + "capture_stop_time_ns": 1792822811041891051, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand", + "timing": { + "server_start_request_time_ns": 1792822800827620431, + "subprocess_popen_time_ns": 1792822800832720756, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822800874664623, + "validate_start_time_ns": 1792822801805367581, + "session_dir_create_start_time_ns": 1792822800876496237, + "session_dir_create_end_time_ns": 1792822800878120241, + "as5600_init_start_time_ns": 1792822800881068696, + "as5600_init_end_time_ns": 1792822800881935096, + "as5600_zero_start_time_ns": 1792822800883607822, + "as5600_zero_end_time_ns": 1792822801686741525, + "camera_init_start_time_ns": 1792822801688231475, + "camera_init_end_time_ns": 1792822801690203717, + "camera_start_start_time_ns": 1792822801691082765, + "camera_start_end_time_ns": 1792822801692459882, + "camera_first_frame_wait_start_time_ns": 1792822801693855573, + "camera_first_frame_wait_end_time_ns": 1792822801696974045, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822801698394570, + "armed_time_ns": 1792822801804353590, + "waiting_t0_time_ns": 1792822801807099991, + "recording_start_time_ns": 1792822804285084252, + "stop_request_time_ns": 1792822810228279783, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822800815752740, + "ended_time_ns": 1792822800815953720, + "duration_s": 0.00020098, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822800815756703, + "ok": true, + "ended_time_ns": 1792822800815763944, + "duration_s": 7.241e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822800815765777, + "ok": true, + "ended_time_ns": 1792822800815768722, + "duration_s": 2.945e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822800815769203, + "ok": true, + "ended_time_ns": 1792822800815771962, + "duration_s": 2.759e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822800815772351, + "ok": true, + "ended_time_ns": 1792822800815942461, + "duration_s": 0.00017011 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822800815943683, + "ok": true, + "ended_time_ns": 1792822800815947609, + "duration_s": 3.926e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822800815948220, + "ok": true, + "ended_time_ns": 1792822800815950701, + "duration_s": 2.481e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822800815951072, + "ok": true, + "ended_time_ns": 1792822800815953201, + "duration_s": 2.129e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 43, + "ready_token": "e9c51ce2b43840f29ae2694f867bd24e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "arm_request_id": "d1532b8c762849e793bee373a8bd9a4c", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3010, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 42, + "last_bootstrap_time_ns": 1792822798730140599, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822800852354340, + "capture_count": 464, + "capture_error_count": 0, + "writer_count": 242, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.052734375, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 177, + "max_queue_depth": 177, + "read_count": 177, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822800861431889, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822800865505890 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822810223153355, + "ended_time_ns": 1792822810238003289, + "capture_stop_time_ns": 1792822811041891051, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142000_00043", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142000_00043", + "--control-generation", + "43", + "--ready-token", + "e9c51ce2b43840f29ae2694f867bd24e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822812270410539, + "ended_time_ns": 1792822812282061064, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "capture_start_time_ns": 1792822804280208968, + "capture_stop_time_ns": 1792822811041891051, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand", + "timing": { + "server_start_request_time_ns": 1792822800827620431, + "subprocess_popen_time_ns": 1792822800832720756, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822800874664623, + "validate_start_time_ns": 1792822801805367581, + "session_dir_create_start_time_ns": 1792822800876496237, + "session_dir_create_end_time_ns": 1792822800878120241, + "as5600_init_start_time_ns": 1792822800881068696, + "as5600_init_end_time_ns": 1792822800881935096, + "as5600_zero_start_time_ns": 1792822800883607822, + "as5600_zero_end_time_ns": 1792822801686741525, + "camera_init_start_time_ns": 1792822801688231475, + "camera_init_end_time_ns": 1792822801690203717, + "camera_start_start_time_ns": 1792822801691082765, + "camera_start_end_time_ns": 1792822801692459882, + "camera_first_frame_wait_start_time_ns": 1792822801693855573, + "camera_first_frame_wait_end_time_ns": 1792822801696974045, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822801698394570, + "armed_time_ns": 1792822801804353590, + "waiting_t0_time_ns": 1792822801807099991, + "recording_start_time_ns": 1792822804285084252, + "stop_request_time_ns": 1792822810232045805, + "finalized_time_ns": 1792822811049626843 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822800815752740, + "ended_time_ns": 1792822800815953720, + "duration_s": 0.00020098, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822800815756703, + "ok": true, + "ended_time_ns": 1792822800815763944, + "duration_s": 7.241e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822800815765777, + "ok": true, + "ended_time_ns": 1792822800815768722, + "duration_s": 2.945e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822800815769203, + "ok": true, + "ended_time_ns": 1792822800815771962, + "duration_s": 2.759e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822800815772351, + "ok": true, + "ended_time_ns": 1792822800815942461, + "duration_s": 0.00017011 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822800815943683, + "ok": true, + "ended_time_ns": 1792822800815947609, + "duration_s": 3.926e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822800815948220, + "ok": true, + "ended_time_ns": 1792822800815950701, + "duration_s": 2.481e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822800815951072, + "ok": true, + "ended_time_ns": 1792822800815953201, + "duration_s": 2.129e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 43, + "ready_token": "e9c51ce2b43840f29ae2694f867bd24e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "ready_file_path": 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-0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 43, + "ready_token": "dd5b09e9879244e18c780f2170094ca5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "arm_request_id": "d1532b8c762849e793bee373a8bd9a4c", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2182, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811862221142, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822813873912680, + "capture_count": 488, + "capture_error_count": 0, + "writer_count": 271, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.87048339737716, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822813876955973, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822813889173197 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822813915235847, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8282, + "displayed_count": 8056, + "dropped_count": 225, + "decode_error_count": 0, + "last_receive_time_ns": 1792822813835081740, + "last_frame_time_ns": 1792822813805904799, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811862221142, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822813873912680, + "capture_count": 488, + "capture_error_count": 0, + "writer_count": 271, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.87048339737716, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822813876955973, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822813889173197 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822814062732443, + "ended_time_ns": 1792822814075022653, + "duration_s": 0.002151026, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822814063768107, + "ended_time_ns": 1792822814064014548, + "duration_s": 0.000246441, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822814063773514, + "ok": true, + "ended_time_ns": 1792822814063782848, + "duration_s": 9.334e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822814063783885, + "ok": true, + "ended_time_ns": 1792822814063786681, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822814063787181, + "ok": true, + "ended_time_ns": 1792822814063790236, + "duration_s": 3.055e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822814063790607, + "ok": true, + "ended_time_ns": 1792822814064003067, + "duration_s": 0.00021246 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822814064004363, + "ok": true, + "ended_time_ns": 1792822814064008382, + "duration_s": 4.019e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822814064008900, + "ok": true, + "ended_time_ns": 1792822814064011530, + "duration_s": 2.63e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822814064011974, + "ok": true, + "ended_time_ns": 1792822814064014141, + "duration_s": 2.167e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822814065226050, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822813873912680, + "frame_age_s": 0.19139024, + "heartbeat_age_s": 0.176087483, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822814065313123, + "duration_s": 8.7073e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822814065319179, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 102.87048339737716, + "sample_observed_time_ns": 1792822813876955973, + "sample_age_s": 0.188379872, + "heartbeat_age_s": 0.176152074, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822814065341919, + "duration_s": 2.274e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822814065350641, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822814065818413, + "duration_s": 0.000467772 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822814075035369, + "ended_time_ns": 1792822814165840092, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142000_00043", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142000_00043", + "--control-generation", + "43", + "--ready-token", + "e9c51ce2b43840f29ae2694f867bd24e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822814165854229, + "ended_time_ns": 1792822814179859051, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "capture_start_time_ns": 1792822804280208968, + "capture_stop_time_ns": 1792822811041891051, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand", + "timing": { + "server_start_request_time_ns": 1792822800827620431, + "subprocess_popen_time_ns": 1792822800832720756, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822800874664623, + "validate_start_time_ns": 1792822801805367581, + "session_dir_create_start_time_ns": 1792822800876496237, + "session_dir_create_end_time_ns": 1792822800878120241, + "as5600_init_start_time_ns": 1792822800881068696, + "as5600_init_end_time_ns": 1792822800881935096, + "as5600_zero_start_time_ns": 1792822800883607822, + "as5600_zero_end_time_ns": 1792822801686741525, + "camera_init_start_time_ns": 1792822801688231475, + "camera_init_end_time_ns": 1792822801690203717, + "camera_start_start_time_ns": 1792822801691082765, + "camera_start_end_time_ns": 1792822801692459882, + "camera_first_frame_wait_start_time_ns": 1792822801693855573, + "camera_first_frame_wait_end_time_ns": 1792822801696974045, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822801698394570, + "armed_time_ns": 1792822801804353590, + "waiting_t0_time_ns": 1792822801807099991, + "recording_start_time_ns": 1792822804285084252, + "stop_request_time_ns": 1792822810232045805, + "finalized_time_ns": 1792822811049626843 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822800815752740, + "ended_time_ns": 1792822800815953720, + "duration_s": 0.00020098, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822800815756703, + "ok": true, + "ended_time_ns": 1792822800815763944, + "duration_s": 7.241e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822800815765777, + "ok": true, + "ended_time_ns": 1792822800815768722, + "duration_s": 2.945e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822800815769203, + "ok": true, + "ended_time_ns": 1792822800815771962, + "duration_s": 2.759e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822800815772351, + "ok": true, + "ended_time_ns": 1792822800815942461, + "duration_s": 0.00017011 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822800815943683, + "ok": true, + "ended_time_ns": 1792822800815947609, + "duration_s": 3.926e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822800815948220, + "ok": true, + "ended_time_ns": 1792822800815950701, + "duration_s": 2.481e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822800815951072, + "ok": true, + "ended_time_ns": 1792822800815953201, + "duration_s": 2.129e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 43, + "ready_token": "e9c51ce2b43840f29ae2694f867bd24e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "arm_request_id": "d1532b8c762849e793bee373a8bd9a4c", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3010, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811865482619, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822813894279452, + "capture_count": 489, + "capture_error_count": 0, + "writer_count": 270, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.31640625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822813880214855, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822813894393043 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822813137021932, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7791, + "displayed_count": 6079, + "dropped_count": 1710, + "decode_error_count": 0, + "last_receive_time_ns": 1792822813029451371, + "last_frame_time_ns": 1792822813025173946, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811865482619, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822813894279452, + "capture_count": 489, + "capture_error_count": 0, + "writer_count": 270, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.31640625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822813880214855, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822813894393043 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822814205063616, + "ended_time_ns": 1792822814215626942, + "duration_s": 0.001031102, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822814208904818, + "ended_time_ns": 1792822814209113317, + "duration_s": 0.000208499, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822814208908263, + "ok": true, + "ended_time_ns": 1792822814208915929, + "duration_s": 7.666e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822814208917003, + "ok": true, + "ended_time_ns": 1792822814208919985, + "duration_s": 2.982e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822814208920503, + "ok": true, + "ended_time_ns": 1792822814208923763, + "duration_s": 3.26e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822814208924115, + "ok": true, + "ended_time_ns": 1792822814209103576, + "duration_s": 0.000179461 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822814209104446, + "ok": true, + "ended_time_ns": 1792822814209107539, + "duration_s": 3.093e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822814209108057, + "ok": true, + "ended_time_ns": 1792822814209110594, + "duration_s": 2.537e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822814209110928, + "ok": true, + "ended_time_ns": 1792822814209112779, + "duration_s": 1.851e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822814209712182, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822813894279452, + "frame_age_s": 0.315459137, + "heartbeat_age_s": 0.315330064, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822814209742070, + "duration_s": 2.9888e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822814209743644, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 279.31640625, + "sample_observed_time_ns": 1792822813880214855, + "sample_age_s": 0.32953516, + "heartbeat_age_s": 0.315353212, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822814209753107, + "duration_s": 9.463e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822814209757477, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822814209855477, + "duration_s": 9.8e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822814215635760, + "ended_time_ns": 1792822814327231916, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823117297925977, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823113306706014, + "ended_time_ns": 1792823113320839657, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823113320898624, + "ended_time_ns": 1792823113367614653, + "transferred_bytes": 13686, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,686 bytes\nTotal transferred file size: 13,686 bytes\nLiteral data: 13,686 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,822\n\nsent 46 bytes received 13,822 bytes 27,736.00 bytes/sec\ntotal size is 13,686 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823113368149456, + "ended_time_ns": 1792823117297326771, + "transferred_bytes": 9618257, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 9,618,257 bytes\nTotal transferred file size: 9,618,257 bytes\nLiteral data: 9,618,257 bytes\nMatched data: 0 bytes\nFile list size: 229\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 9,621,024\n\nsent 168 bytes received 9,621,024 bytes 2,138,042.67 bytes/sec\ntotal size is 9,618,257 speedup is 1.00" + } + ], + "transferred_bytes": 9631943, + "copied_local_bytes": 10139146, + "started_time_ns": 1792823113306375027, + "ended_time_ns": 1792823117297554759 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823113306737369, + "ended_time_ns": 1792823113320241305, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823113320332105, + "ended_time_ns": 1792823113361723803, + "transferred_bytes": 13707, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,707 bytes\nTotal transferred file size: 13,707 bytes\nLiteral data: 13,707 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,843\n\nsent 46 bytes received 13,843 bytes 27,778.00 bytes/sec\ntotal size is 13,707 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823113362300205, + "ended_time_ns": 1792823113919236371, + "transferred_bytes": 8402696, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,402,696 bytes\nTotal transferred file size: 8,402,696 bytes\nLiteral data: 8,402,696 bytes\nMatched data: 0 bytes\nFile list size: 219\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,405,153\n\nsent 168 bytes received 8,405,153 bytes 16,810,642.00 bytes/sec\ntotal size is 8,402,696 speedup is 1.00" + } + ], + "transferred_bytes": 8416403, + "copied_local_bytes": 8906886, + "started_time_ns": 1792823113306475064, + "ended_time_ns": 1792823113919788423 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_142014_00044", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823375840781422, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823375369171645, + "ended_time_ns": 1792823375840508166, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823375369171645, + "ended_time_ns": 1792823375560677172, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142014_00044", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142014_00044_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142014_00044 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142014_00044_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142014_00044_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142014_00044_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142014_00044\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822817906340895\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822817906340895，vive_T0=1792822817906340895，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822825268382825，vive_Tstop=1792822825268382825，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008423s，first=1792822817914763673，T0=1792822817906340895，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003715s，last=1792822825264667754，Tstop=1792822825268382825，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1471\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00261007487833 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00261007487833 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1471，metadata 1471\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00261063642307 Hz，最低 150.0 Hz，时长 7.3499040603637695 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00261063642307 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005600452423095703s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994699665..1.0000000005177814，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0006623491974668657m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.21771451902063677deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=295 duration=7.375s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=295，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 295，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=294，rows=295，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=295，monotonic违规=0，估算频率=40.040932325194944Hz，最大间隔=0.033876693s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 295，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.040933235899516 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.040933235899516 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033872785s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 442，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 40.499..99.4242\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 442，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00018039237905 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00018039237905 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021160381s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=442，bad_rows=0，monotonic违规=0，估算频率=60.000178727063Hz，最大间隔=0.021161271s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 295，metadata 295\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 442，metadata 442\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 295，timestamps 295，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=295，timestamps=295，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.033s，video=7.375s，timestamps=7.342486206999998s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.007s，camera=7.342486206999998s，clamp=7.3499779020000044s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822817906340895，pi_T0=1792822817906340895，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822825268382825，pi_Tstop=1792822825268382825，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.017625s，first=1792822817923965547，T0=1792822817906340895，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.003950s，first=1792822817910291028，T0=1792822817906340895，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.001931s，last=1792822825266451754，Tstop=1792822825268382825，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.008114s，last=1792822825260268930，Tstop=1792822825268382825，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.007418s，vive=7.349904081s，camera=7.342486206999998s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.000074s，vive=7.349904081s，clamp=7.3499779020000044s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.009202s，vive_first=1792822817914763673，camera_first=1792822817923965547，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.004473s，vive_first=1792822817914763673，clamp_first=1792822817910291028，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.001784s，vive_last=1792822825264667754，camera_last=1792822825266451754，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.004399s，vive_last=1792822825264667754，clamp_last=1792822825260268930，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142014_00044_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823375560989207, + "ended_time_ns": 1792823375840508166, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142014_00044", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142014_00044_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142014_00044 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142014_00044_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142014_00044_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142014_00044_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142014_00044\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822817906340895\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822817906340895，vive_T0=1792822817906340895，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822825268382825，vive_Tstop=1792822825268382825，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008423s，first=1792822817914763673，T0=1792822817906340895，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003715s，last=1792822825264667754，Tstop=1792822825268382825，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1471\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00261007487833 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00261007487833 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1471，metadata 1471\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00261063642307 Hz，最低 150.0 Hz，时长 7.3499040603637695 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00261063642307 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005600452423095703s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994090438..1.0000000005957856，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0015091697894875787m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.3928116707257376deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=295 duration=7.375s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=295，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 295，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=294，rows=295，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=295，monotonic违规=0，估算频率=40.03827242118589Hz，最大间隔=0.030071454s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 295，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03827140700301 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03827140700301 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03007051s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 442，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.988..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 442，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.999846318761 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999846318761 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019013776s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=442，bad_rows=0，monotonic违规=0，估算频率=59.9998368004439Hz，最大间隔=0.01901259s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 295，metadata 294\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 442，metadata 442\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 295，timestamps 295，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=295，timestamps=295，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=7.375s，timestamps=7.342974351000006s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.007s，camera=7.342974351000006s，clamp=7.350018825999998s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822817906340895，pi_T0=1792822817906340895，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822825268382825，pi_Tstop=1792822825268382825，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.012259s，first=1792822817918599783，T0=1792822817906340895，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.007208s，first=1792822817913548828，T0=1792822817906340895，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.006809s，last=1792822825261574134，Tstop=1792822825268382825，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.004815s，last=1792822825263567654，Tstop=1792822825268382825，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.006930s，vive=7.349904081s，camera=7.342974351000006s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.000115s，vive=7.349904081s，clamp=7.350018825999998s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.003836s，vive_first=1792822817914763673，camera_first=1792822817918599783，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.001215s，vive_first=1792822817914763673，clamp_first=1792822817913548828，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.003094s，vive_last=1792822825264667754，camera_last=1792822825261574134，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.001100s，vive_last=1792822825264667754，clamp_last=1792822825263567654，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142014_00044_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142014_00044_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142014_00044\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822817906340895\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822817906340895，vive_T0=1792822817906340895，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822825268382825，vive_Tstop=1792822825268382825，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008423s，first=1792822817914763673，T0=1792822817906340895，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003715s，last=1792822825264667754，Tstop=1792822825268382825，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1471\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00261007487833 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00261007487833 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1471，metadata 1471\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00261063642307 Hz，最低 150.0 Hz，时长 7.3499040603637695 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00261063642307 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005600452423095703s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994699665..1.0000000005177814，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0006623491974668657m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.21771451902063677deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=295 duration=7.375s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=295，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 295，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=294，rows=295，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=295，monotonic违规=0，估算频率=40.040932325194944Hz，最大间隔=0.033876693s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 295，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.040933235899516 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.040933235899516 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033872785s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 442，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 40.499..99.4242\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 442，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00018039237905 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00018039237905 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021160381s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=442，bad_rows=0，monotonic违规=0，估算频率=60.000178727063Hz，最大间隔=0.021161271s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 295，metadata 295\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 442，metadata 442\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 295，timestamps 295，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=295，timestamps=295，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.033s，video=7.375s，timestamps=7.342486206999998s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.007s，camera=7.342486206999998s，clamp=7.3499779020000044s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822817906340895，pi_T0=1792822817906340895，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822825268382825，pi_Tstop=1792822825268382825，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.017625s，first=1792822817923965547，T0=1792822817906340895，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.003950s，first=1792822817910291028，T0=1792822817906340895，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.001931s，last=1792822825266451754，Tstop=1792822825268382825，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.008114s，last=1792822825260268930，Tstop=1792822825268382825，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.007418s，vive=7.349904081s，camera=7.342486206999998s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.000074s，vive=7.349904081s，clamp=7.3499779020000044s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.009202s，vive_first=1792822817914763673，camera_first=1792822817923965547，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.004473s，vive_first=1792822817914763673，clamp_first=1792822817910291028，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.001784s，vive_last=1792822825264667754，camera_last=1792822825266451754，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.004399s，vive_last=1792822825264667754，clamp_last=1792822825260268930，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142014_00044_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142014_00044\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822817906340895\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822817906340895，vive_T0=1792822817906340895，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822825268382825，vive_Tstop=1792822825268382825，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008423s，first=1792822817914763673，T0=1792822817906340895，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.003715s，last=1792822825264667754，Tstop=1792822825268382825，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1471\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00261007487833 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00261007487833 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1471，metadata 1471\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00261063642307 Hz，最低 150.0 Hz，时长 7.3499040603637695 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00261063642307 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005600452423095703s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994090438..1.0000000005957856，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0015091697894875787m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.3928116707257376deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=295 duration=7.375s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=295，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 295，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=294，rows=295，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=295，monotonic违规=0，估算频率=40.03827242118589Hz，最大间隔=0.030071454s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 295，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03827140700301 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03827140700301 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03007051s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 442，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.988..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 442，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.999846318761 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999846318761 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019013776s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=442，bad_rows=0，monotonic违规=0，估算频率=59.9998368004439Hz，最大间隔=0.01901259s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 295，metadata 294\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 442，metadata 442\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 295，timestamps 295，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=295，timestamps=295，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=7.375s，timestamps=7.342974351000006s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.007s，camera=7.342974351000006s，clamp=7.350018825999998s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822817906340895，pi_T0=1792822817906340895，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822825268382825，pi_Tstop=1792822825268382825，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.012259s，first=1792822817918599783，T0=1792822817906340895，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.007208s，first=1792822817913548828，T0=1792822817906340895，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.006809s，last=1792822825261574134，Tstop=1792822825268382825，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.004815s，last=1792822825263567654，Tstop=1792822825268382825，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.006930s，vive=7.349904081s，camera=7.342974351000006s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.000115s，vive=7.349904081s，clamp=7.350018825999998s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.003836s，vive_first=1792822817914763673，camera_first=1792822817918599783，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.001215s，vive_first=1792822817914763673，clamp_first=1792822817913548828，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.003094s，vive_last=1792822825264667754，camera_last=1792822825261574134，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.001100s，vive_last=1792822825264667754，clamp_last=1792822825263567654，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142014_00044_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142014_00044/control/stop_left_hand.flag b/stack the blocks/session_20261024_142014_00044/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..a573813d53ae78f9788e4e10a28e1446c63c05c1 --- /dev/null +++ b/stack the blocks/session_20261024_142014_00044/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822825268382825 \ No newline at end of file diff --git a/stack the blocks/session_20261024_142014_00044/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the blocks/session_20261024_142014_00044/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..a472eb435029b9ff2a3027c771f7598946d2d6dd --- /dev/null +++ b/stack the blocks/session_20261024_142014_00044/left_hand/Clamp_Data/clamp_data_tum.txt @@ -0,0 +1,442 @@ +1792822817.910291028 99.4242 +1792822817.926964303 99.4242 +1792822817.943638338 99.4242 +1792822817.960264874 99.4242 +1792822817.976966686 99.4242 +1792822817.993627721 99.4242 +1792822818.010294849 99.4242 +1792822818.026969550 99.4242 +1792822818.043638159 99.4242 +1792822818.060289972 99.4242 +1792822818.076958988 99.4242 +1792822818.093631838 99.4242 +1792822818.110289744 99.4242 +1792822818.126955908 99.4242 +1792822818.143632573 99.4242 +1792822818.160305811 99.4242 +1792822818.176969291 99.4242 +1792822818.193687399 99.4242 +1792822818.210297379 99.4242 +1792822818.226918785 99.4242 +1792822818.243593913 99.4242 +1792822818.260291947 99.4242 +1792822818.277008556 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"/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_142014_00044", + "control_generation": 44, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822817906340895, + "capture_stop_time_ns": 1792822825268382825 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 103.974609375, + "reference_source": "max_open_init", + "zero_angle_deg": 103.974609375, + "zero_source": "max_open_init", + "init_total_samples": 49, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.018e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822817912255427, + "camera_frame_count": 295, + "camera_started_time_ns": 1792822815321440367, + "camera_stopped_time_ns": 1792822825276124421, + "camera_actual_fps": 29.634290591217997, + "camera_first_frame_time_ns": 1792822817923965547, + "camera_last_frame_time_ns": 1792822825266451754, + "camera_frame_timestamp_fps": 40.0409332358995, + "camera_diagnostics": { + 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99.42418406455417, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 207, + "read_count": 853, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1775 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..b5c2e6666a77ecab07ea8d9663332e1354b9f6b1 --- /dev/null +++ b/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822814447032908, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_142014_00044", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + 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150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142000_00043", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "--diagnostics-state-file", + 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1792822801813652963, + "waiting_t0_time_ns": 1792822801816017005, + "recording_start_time_ns": 1792822804281926857, + "stop_request_time_ns": 1792822810077402198, + "finalized_time_ns": 1792822811046800449 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822814063672016, + "ended_time_ns": 1792822814065823042, + "duration_s": 0.002151026, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822814063768107, + "ended_time_ns": 1792822814064014548, + "duration_s": 0.000246441, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822814063773514, + "ok": true, + "ended_time_ns": 1792822814063782848, + "duration_s": 9.334e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822814063783885, + "ok": true, + "ended_time_ns": 1792822814063786681, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822814063787181, + "ok": true, + "ended_time_ns": 1792822814063790236, + "duration_s": 3.055e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822814063790607, + "ok": true, + "ended_time_ns": 1792822814064003067, + "duration_s": 0.00021246 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822814064004363, + "ok": true, + "ended_time_ns": 1792822814064008382, + "duration_s": 4.019e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822814064008900, + "ok": true, + "ended_time_ns": 1792822814064011530, + "duration_s": 2.63e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822814064011974, + "ok": true, + "ended_time_ns": 1792822814064014141, + "duration_s": 2.167e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822814065226050, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822813873912680, + "frame_age_s": 0.19139024, + "heartbeat_age_s": 0.176087483, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822814065313123, + "duration_s": 8.7073e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822814065319179, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 102.87048339737716, + "sample_observed_time_ns": 1792822813876955973, + "sample_age_s": 0.188379872, + "heartbeat_age_s": 0.176152074, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822814065341919, + "duration_s": 2.274e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822814065344049, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822814065348104, + "duration_s": 4.055e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822814065350641, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822814065818413, + "duration_s": 0.000467772 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 43, + "ready_token": "dd5b09e9879244e18c780f2170094ca5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "arm_request_id": "d1532b8c762849e793bee373a8bd9a4c", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2182, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811862221142, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822814373377422, + "capture_count": 508, + "capture_error_count": 0, + "writer_count": 271, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.87048339737716, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 200, + "max_queue_depth": 200, + "read_count": 200, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822814376955448, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822814393503670 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822813915235847, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8282, + "displayed_count": 8056, + "dropped_count": 225, + "decode_error_count": 0, + "last_receive_time_ns": 1792822813835081740, + "last_frame_time_ns": 1792822813805904799, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811862221142, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822814373377422, + "capture_count": 508, + "capture_error_count": 0, + "writer_count": 271, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.87048339737716, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 200, + "max_queue_depth": 200, + "read_count": 200, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822814376955448, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822814393503670 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822814473458515, + "ended_time_ns": 1792822814484868026, + "duration_s": 0.000530734, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822814472953693, + "ok": true, + "ended_time_ns": 1792822814472961897, + "duration_s": 8.204e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822814472963656, + "ok": true, + "ended_time_ns": 1792822814472966193, + "duration_s": 2.537e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822814472966637, + "ok": true, + "ended_time_ns": 1792822814472969434, + "duration_s": 2.797e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822814472969841, + "ok": true, + "ended_time_ns": 1792822814473444779, + "duration_s": 0.000474938 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822814473449871, + "ok": true, + "ended_time_ns": 1792822814473462408, + "duration_s": 1.2537e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822814473464075, + "ok": true, + "ended_time_ns": 1792822814473473908, + "duration_s": 9.833e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822814473474316, + "ok": true, + "ended_time_ns": 1792822814473479667, + "duration_s": 5.351e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_142014_00044", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142014_00044", + "--control-generation", + "44", + "--ready-token", + "63f3fea6336d416b82b65c80c9e2e5d9", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822814494254925, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/left_hand", + "timing": { + "server_start_request_time_ns": 1792822814489167401, + "subprocess_popen_time_ns": 1792822814494254925, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822814472949600, + "ended_time_ns": 1792822814473480334, + "duration_s": 0.000530734, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822814472953693, + "ok": true, + "ended_time_ns": 1792822814472961897, + "duration_s": 8.204e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822814472963656, + "ok": true, + "ended_time_ns": 1792822814472966193, + "duration_s": 2.537e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822814472966637, + "ok": true, + "ended_time_ns": 1792822814472969434, + "duration_s": 2.797e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822814472969841, + "ok": true, + "ended_time_ns": 1792822814473444779, + "duration_s": 0.000474938 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822814473449871, + "ok": true, + "ended_time_ns": 1792822814473462408, + "duration_s": 1.2537e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822814473464075, + "ok": true, + "ended_time_ns": 1792822814473473908, + "duration_s": 9.833e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822814473474316, + "ok": true, + "ended_time_ns": 1792822814473479667, + "duration_s": 5.351e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 44, + "ready_token": "63f3fea6336d416b82b65c80c9e2e5d9", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2183, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811862221142, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822814373377422, + "capture_count": 508, + "capture_error_count": 0, + "writer_count": 271, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + 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"ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822814373377422, + "capture_count": 508, + "capture_error_count": 0, + "writer_count": 271, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.87048339737716, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 200, + "max_queue_depth": 200, + "read_count": 200, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822814376955448, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822814393503670 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822814488515260, + "ended_time_ns": 1792822814515009158 + }, + "pi_start_request_time_ns": 1792822814515017322, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822814518643954, + "capture_start_time_ns": 1792822817906340895, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822824296968352, + "capture_stop_time_ns": 1792822825268382825, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142014_00044", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "--arm-timeout-s", + "90", + 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1792822814510058601, + "as5600_zero_start_time_ns": 1792822814513009765, + "as5600_zero_end_time_ns": 1792822815317999062, + "camera_init_start_time_ns": 1792822815319394135, + "camera_init_end_time_ns": 1792822815321450182, + "camera_start_start_time_ns": 1792822815322687832, + "camera_start_end_time_ns": 1792822815324308310, + "camera_first_frame_wait_start_time_ns": 1792822815325633403, + "camera_first_frame_wait_end_time_ns": 1792822815326959089, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822815329319668, + "armed_time_ns": 1792822815416910193, + "waiting_t0_time_ns": 1792822815419673212, + "recording_start_time_ns": 1792822817912294778, + "stop_request_time_ns": 1792822824294780349, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822814472949600, + "ended_time_ns": 1792822814473480334, + "duration_s": 0.000530734, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822814472953693, + "ok": true, + "ended_time_ns": 1792822814472961897, + "duration_s": 8.204e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822814472963656, + "ok": true, + "ended_time_ns": 1792822814472966193, + "duration_s": 2.537e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822814472966637, + "ok": true, + "ended_time_ns": 1792822814472969434, + "duration_s": 2.797e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822814472969841, + "ok": true, + "ended_time_ns": 1792822814473444779, + "duration_s": 0.000474938 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822814473449871, + "ok": true, + "ended_time_ns": 1792822814473462408, + "duration_s": 1.2537e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822814473464075, + "ok": true, + "ended_time_ns": 1792822814473473908, + "duration_s": 9.833e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822814473474316, + "ok": true, + "ended_time_ns": 1792822814473479667, + "duration_s": 5.351e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 44, + "ready_token": "63f3fea6336d416b82b65c80c9e2e5d9", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "arm_request_id": "5649edde8acf4f1b93ac9c99d280e0f4", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2183, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811862221142, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822814498811123, + "capture_count": 513, + "capture_error_count": 0, + "writer_count": 271, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.87048339737716, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 207, + "max_queue_depth": 207, + "read_count": 207, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822814493622730, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822814502901438 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822824297484772, + "ended_time_ns": 1792822824309094534, + "capture_stop_time_ns": 1792822825268382825, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_142014_00044", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 160056 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 160339 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141692 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 160776 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 160339 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129658 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142014_00044", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142014_00044", + "--control-generation", + "44", + "--ready-token", + "63f3fea6336d416b82b65c80c9e2e5d9", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822826289302942, + "ended_time_ns": 1792822826305701429, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "capture_start_time_ns": 1792822817906340895, + "capture_stop_time_ns": 1792822825268382825, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/left_hand", + "timing": { + "server_start_request_time_ns": 1792822814489167401, + "subprocess_popen_time_ns": 1792822814494254925, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822814506415020, + "validate_start_time_ns": 1792822815417855792, + "session_dir_create_start_time_ns": 1792822814507286101, + "session_dir_create_end_time_ns": 1792822814508204978, + "as5600_init_start_time_ns": 1792822814509244853, + "as5600_init_end_time_ns": 1792822814510058601, + "as5600_zero_start_time_ns": 1792822814513009765, + "as5600_zero_end_time_ns": 1792822815317999062, + "camera_init_start_time_ns": 1792822815319394135, + "camera_init_end_time_ns": 1792822815321450182, + "camera_start_start_time_ns": 1792822815322687832, + "camera_start_end_time_ns": 1792822815324308310, + "camera_first_frame_wait_start_time_ns": 1792822815325633403, + "camera_first_frame_wait_end_time_ns": 1792822815326959089, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822815329319668, + "armed_time_ns": 1792822815416910193, + "waiting_t0_time_ns": 1792822815419673212, + "recording_start_time_ns": 1792822817912294778, + "stop_request_time_ns": 1792822824295743688, + "finalized_time_ns": 1792822825279185879 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822814472949600, + "ended_time_ns": 1792822814473480334, + "duration_s": 0.000530734, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822814472953693, + "ok": true, + "ended_time_ns": 1792822814472961897, + "duration_s": 8.204e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822814472963656, + "ok": true, + "ended_time_ns": 1792822814472966193, + "duration_s": 2.537e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822814472966637, + "ok": true, + "ended_time_ns": 1792822814472969434, + "duration_s": 2.797e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822814472969841, + "ok": true, + "ended_time_ns": 1792822814473444779, + "duration_s": 0.000474938 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822814473449871, + "ok": true, + "ended_time_ns": 1792822814473462408, + "duration_s": 1.2537e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822814473464075, + "ok": true, + "ended_time_ns": 1792822814473473908, + "duration_s": 9.833e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822814473474316, + "ok": true, + "ended_time_ns": 1792822814473479667, + "duration_s": 5.351e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 44, + "ready_token": "63f3fea6336d416b82b65c80c9e2e5d9", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "arm_request_id": "5649edde8acf4f1b93ac9c99d280e0f4", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2183, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 44, + "last_bootstrap_time_ns": 1792822825280953911, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822825790740606, + "capture_count": 420, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.974609375, + "gripper_gap_mm": 81.73704303247364, + "status_ok": true, + "queue_size": 600, + "queue_depth": 31, + "max_queue_depth": 207, + "read_count": 884, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822825776966458, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822825793381885 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822825539972759, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8381, + "displayed_count": 8150, + "dropped_count": 230, + "decode_error_count": 0, + "last_receive_time_ns": 1792822825426354343, + "last_frame_time_ns": 1792822825452062145, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 44, + "last_bootstrap_time_ns": 1792822825280953911, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822825790740606, + "capture_count": 420, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.974609375, + "gripper_gap_mm": 81.73704303247364, + "status_ok": true, + "queue_size": 600, + "queue_depth": 31, + "max_queue_depth": 207, + "read_count": 884, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822825776966458, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822825793381885 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792822826355561230, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792822826355559532 + } + }, + "updated_time_ns": 1792822826355565318 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2b2532f885ee7a497ecc5160b16ba4fc20149b04 --- /dev/null +++ b/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822814521370893, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "left_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-26B06EF4", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792822817906340895, + "capture_stop_time_ns": 1792822825268382825, + "effective_capture_stop_time_ns": 1792822825268382825, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 1, + "tracker_serial_used": 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60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822817906340895, + "capture_stop_time_ns": 1792822825268382825, + "effective_capture_stop_time_ns": 1792822825268382825, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_142014_00044", + "control_generation": 44, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822817906340895, + "capture_stop_time_ns": 1792822825268382825 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 279.4097900372953, + "reference_source": "max_open_init", + "zero_angle_deg": 279.4097900372953, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.13e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822817909218552, + "camera_frame_count": 294, + "camera_started_time_ns": 1792822815380094784, + "camera_stopped_time_ns": 1792822825272959052, + "camera_actual_fps": 29.71839014823932, + "camera_first_frame_time_ns": 1792822817918599783, + "camera_last_frame_time_ns": 1792822825236593301, + "camera_frame_timestamp_fps": 40.03829728453717, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822825261574134, + "capture_count": 396, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 442, + "clamp_first_sample_time_ns": 1792822817913548828, + "clamp_last_sample_time_ns": 1792822825263567654, + "clamp_actual_hz": 59.99984631876098, + "clamp_value_min": 99.9880038385375, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 211, + "read_count": 853, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1786 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142014_00044/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142014_00044/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..31b297a701ce823a6a968f44786a51ab931e1a63 --- /dev/null +++ b/stack the blocks/session_20261024_142014_00044/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822814431332380, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_142014_00044", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142014_00044/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + 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"max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142000_00043", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142000_00043", + "--control-generation", + "43", + "--ready-token", + "e9c51ce2b43840f29ae2694f867bd24e", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822814431896778, + "ended_time_ns": 1792822814445430465, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.diagnostics.json", + "capture_start_time_ns": 1792822804280208968, + "capture_stop_time_ns": 1792822811041891051, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142000_00043/right_hand", + "timing": { + "server_start_request_time_ns": 1792822800827620431, + "subprocess_popen_time_ns": 1792822800832720756, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822800874664623, + "validate_start_time_ns": 1792822801805367581, + "session_dir_create_start_time_ns": 1792822800876496237, + "session_dir_create_end_time_ns": 1792822800878120241, + "as5600_init_start_time_ns": 1792822800881068696, + "as5600_init_end_time_ns": 1792822800881935096, + "as5600_zero_start_time_ns": 1792822800883607822, + "as5600_zero_end_time_ns": 1792822801686741525, + "camera_init_start_time_ns": 1792822801688231475, + "camera_init_end_time_ns": 1792822801690203717, + "camera_start_start_time_ns": 1792822801691082765, + "camera_start_end_time_ns": 1792822801692459882, + "camera_first_frame_wait_start_time_ns": 1792822801693855573, + "camera_first_frame_wait_end_time_ns": 1792822801696974045, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822801698394570, + "armed_time_ns": 1792822801804353590, + "waiting_t0_time_ns": 1792822801807099991, + "recording_start_time_ns": 1792822804285084252, + "stop_request_time_ns": 1792822810232045805, + "finalized_time_ns": 1792822811049626843 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822814208825689, + "ended_time_ns": 1792822814209856791, + "duration_s": 0.001031102, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822814208904818, + "ended_time_ns": 1792822814209113317, + "duration_s": 0.000208499, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822814208908263, + "ok": true, + "ended_time_ns": 1792822814208915929, + "duration_s": 7.666e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822814208917003, + "ok": true, + "ended_time_ns": 1792822814208919985, + "duration_s": 2.982e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822814208920503, + "ok": true, + "ended_time_ns": 1792822814208923763, + "duration_s": 3.26e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822814208924115, + "ok": true, + "ended_time_ns": 1792822814209103576, + "duration_s": 0.000179461 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822814209104446, + "ok": true, + "ended_time_ns": 1792822814209107539, + "duration_s": 3.093e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822814209108057, + "ok": true, + "ended_time_ns": 1792822814209110594, + "duration_s": 2.537e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822814209110928, + "ok": true, + "ended_time_ns": 1792822814209112779, + "duration_s": 1.851e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822814209712182, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822813894279452, + "frame_age_s": 0.315459137, + "heartbeat_age_s": 0.315330064, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822814209742070, + "duration_s": 2.9888e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822814209743644, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 279.31640625, + "sample_observed_time_ns": 1792822813880214855, + "sample_age_s": 0.32953516, + "heartbeat_age_s": 0.315353212, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822814209753107, + "duration_s": 9.463e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822814209754052, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822814209756496, + "duration_s": 2.444e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822814209757477, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822814209855477, + "duration_s": 9.8e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 43, + "ready_token": "e9c51ce2b43840f29ae2694f867bd24e", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142000_00043.ready.json", + "arm_request_id": "d1532b8c762849e793bee373a8bd9a4c", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3010, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811865482619, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822814393683100, + "capture_count": 509, + "capture_error_count": 0, + "writer_count": 270, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.31640625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 201, + "max_queue_depth": 201, + "read_count": 201, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822814397558899, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822814400374114 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822814210072493, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7801, + "displayed_count": 6087, + "dropped_count": 1712, + "decode_error_count": 0, + "last_receive_time_ns": 1792822814185931856, + "last_frame_time_ns": 1792822814107064206, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811865482619, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822814393683100, + "capture_count": 509, + "capture_error_count": 0, + "writer_count": 270, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.31640625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 201, + "max_queue_depth": 201, + "read_count": 201, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822814397558899, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822814400374114 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822814448645812, + "ended_time_ns": 1792822814458578118, + "duration_s": 0.000213868, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822814452358300, + "ok": true, + "ended_time_ns": 1792822814452366059, + "duration_s": 7.759e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822814452368022, + "ok": true, + "ended_time_ns": 1792822814452370985, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822814452371485, + "ok": true, + "ended_time_ns": 1792822814452374263, + "duration_s": 2.778e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822814452374651, + "ok": true, + "ended_time_ns": 1792822814452558039, + "duration_s": 0.000183388 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822814452559002, + "ok": true, + "ended_time_ns": 1792822814452562668, + "duration_s": 3.666e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822814452563242, + "ok": true, + "ended_time_ns": 1792822814452565650, + "duration_s": 2.408e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822814452566113, + "ok": true, + "ended_time_ns": 1792822814452568113, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_142014_00044", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142014_00044", + "--control-generation", + "44", + "--ready-token", + "d8707fe2ddb248c2b2d7f9fa1e6e2fce", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822814474216476, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/right_hand", + "timing": { + "server_start_request_time_ns": 1792822814467254426, + "subprocess_popen_time_ns": 1792822814474216476, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822814452354763, + "ended_time_ns": 1792822814452568631, + "duration_s": 0.000213868, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822814452358300, + "ok": true, + "ended_time_ns": 1792822814452366059, + "duration_s": 7.759e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822814452368022, + "ok": true, + "ended_time_ns": 1792822814452370985, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822814452371485, + "ok": true, + "ended_time_ns": 1792822814452374263, + "duration_s": 2.778e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822814452374651, + "ok": true, + "ended_time_ns": 1792822814452558039, + "duration_s": 0.000183388 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822814452559002, + "ok": true, + "ended_time_ns": 1792822814452562668, + "duration_s": 3.666e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822814452563242, + "ok": true, + "ended_time_ns": 1792822814452565650, + "duration_s": 2.408e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822814452566113, + "ok": true, + "ended_time_ns": 1792822814452568113, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 44, + "ready_token": "d8707fe2ddb248c2b2d7f9fa1e6e2fce", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3011, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811865482619, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822814393683100, + "capture_count": 509, + "capture_error_count": 0, + "writer_count": 270, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.31640625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 201, + "max_queue_depth": 201, + "read_count": 201, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822814397558899, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822814400374114 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822814210072493, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7801, + "displayed_count": 6087, + "dropped_count": 1712, + "decode_error_count": 0, + "last_receive_time_ns": 1792822814185931856, + "last_frame_time_ns": 1792822814107064206, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142000_00043", + "generation": 43, + "session_count": 43, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811865482619, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822814393683100, + "capture_count": 509, + "capture_error_count": 0, + "writer_count": 270, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.31640625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 201, + "max_queue_depth": 201, + "read_count": 201, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822814397558899, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822814400374114 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822814462230506, + "ended_time_ns": 1792822814490767217 + }, + "pi_start_request_time_ns": 1792822814490775571, + "capture_start_time_ns": 1792822817906340895, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822824413611969, + "capture_stop_time_ns": 1792822825268382825, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142014_00044", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142014_00044", + "--control-generation", + "44", + "--ready-token", + "d8707fe2ddb248c2b2d7f9fa1e6e2fce", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822814474216476, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "capture_start_time_ns": 1792822817906340895, + "capture_stop_time_ns": 1792822825268382825, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/right_hand", + "timing": { + "server_start_request_time_ns": 1792822814467254426, + "subprocess_popen_time_ns": 1792822814474216476, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822814562237377, + "validate_start_time_ns": 1792822815441536496, + "session_dir_create_start_time_ns": 1792822814563169184, + "session_dir_create_end_time_ns": 1792822814564288285, + "as5600_init_start_time_ns": 1792822814567337499, + "as5600_init_end_time_ns": 1792822814568439952, + "as5600_zero_start_time_ns": 1792822814570872764, + "as5600_zero_end_time_ns": 1792822815376302910, + "camera_init_start_time_ns": 1792822815377976802, + "camera_init_end_time_ns": 1792822815380099024, + "camera_start_start_time_ns": 1792822815382856926, + "camera_start_end_time_ns": 1792822815384488078, + "camera_first_frame_wait_start_time_ns": 1792822815386139859, + "camera_first_frame_wait_end_time_ns": 1792822815387756845, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822815389281220, + "armed_time_ns": 1792822815440062991, + "waiting_t0_time_ns": 1792822815443420979, + "recording_start_time_ns": 1792822817909227737, + "stop_request_time_ns": 1792822824416873689, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822814452354763, + "ended_time_ns": 1792822814452568631, + "duration_s": 0.000213868, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822814452358300, + "ok": true, + "ended_time_ns": 1792822814452366059, + "duration_s": 7.759e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822814452368022, + "ok": true, + "ended_time_ns": 1792822814452370985, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822814452371485, + "ok": true, + "ended_time_ns": 1792822814452374263, + "duration_s": 2.778e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822814452374651, + "ok": true, + "ended_time_ns": 1792822814452558039, + "duration_s": 0.000183388 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822814452559002, + "ok": true, + "ended_time_ns": 1792822814452562668, + "duration_s": 3.666e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822814452563242, + "ok": true, + "ended_time_ns": 1792822814452565650, + "duration_s": 2.408e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822814452566113, + "ok": true, + "ended_time_ns": 1792822814452568113, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 44, + "ready_token": "d8707fe2ddb248c2b2d7f9fa1e6e2fce", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "arm_request_id": "5649edde8acf4f1b93ac9c99d280e0f4", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3011, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 43, + "last_bootstrap_time_ns": 1792822811865482619, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822814493629877, + "capture_count": 513, + "capture_error_count": 0, + "writer_count": 270, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.31640625, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 207, + "max_queue_depth": 207, + "read_count": 207, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822814496886663, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822814505910008 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822824414543357, + "ended_time_ns": 1792822824429923247, + "capture_stop_time_ns": 1792822825268382825, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142014_00044", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142014_00044", + "--control-generation", + "44", + "--ready-token", + "d8707fe2ddb248c2b2d7f9fa1e6e2fce", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822826460474088, + "ended_time_ns": 1792822826475105759, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "capture_start_time_ns": 1792822817906340895, + "capture_stop_time_ns": 1792822825268382825, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/right_hand", + "timing": { + "server_start_request_time_ns": 1792822814467254426, + "subprocess_popen_time_ns": 1792822814474216476, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822814562237377, + "validate_start_time_ns": 1792822815441536496, + "session_dir_create_start_time_ns": 1792822814563169184, + "session_dir_create_end_time_ns": 1792822814564288285, + "as5600_init_start_time_ns": 1792822814567337499, + "as5600_init_end_time_ns": 1792822814568439952, + "as5600_zero_start_time_ns": 1792822814570872764, + "as5600_zero_end_time_ns": 1792822815376302910, + "camera_init_start_time_ns": 1792822815377976802, + "camera_init_end_time_ns": 1792822815380099024, + "camera_start_start_time_ns": 1792822815382856926, + "camera_start_end_time_ns": 1792822815384488078, + "camera_first_frame_wait_start_time_ns": 1792822815386139859, + "camera_first_frame_wait_end_time_ns": 1792822815387756845, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822815389281220, + "armed_time_ns": 1792822815440062991, + "waiting_t0_time_ns": 1792822815443420979, + "recording_start_time_ns": 1792822817909227737, + "stop_request_time_ns": 1792822824420833395, + "finalized_time_ns": 1792822825274795924 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822814452354763, + "ended_time_ns": 1792822814452568631, + "duration_s": 0.000213868, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822814452358300, + "ok": true, + "ended_time_ns": 1792822814452366059, + "duration_s": 7.759e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822814452368022, + "ok": true, + "ended_time_ns": 1792822814452370985, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822814452371485, + "ok": true, + "ended_time_ns": 1792822814452374263, + "duration_s": 2.778e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822814452374651, + "ok": true, + "ended_time_ns": 1792822814452558039, + "duration_s": 0.000183388 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822814452559002, + "ok": true, + "ended_time_ns": 1792822814452562668, + "duration_s": 3.666e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822814452563242, + "ok": true, + "ended_time_ns": 1792822814452565650, + "duration_s": 2.408e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822814452566113, + "ok": true, + "ended_time_ns": 1792822814452568113, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + 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"tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 44, + "ready_token": "63f3fea6336d416b82b65c80c9e2e5d9", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "arm_request_id": "5649edde8acf4f1b93ac9c99d280e0f4", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2183, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 44, + "last_bootstrap_time_ns": 1792822825280953911, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822827814655018, + "capture_count": 501, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.974609375, + "gripper_gap_mm": 83.04222581948417, + "status_ok": true, + "queue_size": 600, + "queue_depth": 154, + "max_queue_depth": 207, + "read_count": 1007, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822827826954111, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822827830279900 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822827616290983, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8400, + "displayed_count": 8169, + "dropped_count": 230, + "decode_error_count": 0, + "last_receive_time_ns": 1792822827525731443, + "last_frame_time_ns": 1792822827521787181, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 44, + "last_bootstrap_time_ns": 1792822825280953911, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822827814655018, + "capture_count": 501, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.974609375, + "gripper_gap_mm": 83.04222581948417, + "status_ok": true, + "queue_size": 600, + "queue_depth": 154, + "max_queue_depth": 207, + "read_count": 1007, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822827826954111, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822827830279900 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822828316183327, + "ended_time_ns": 1792822828325664538, + "duration_s": 0.001079634, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822828315387446, + "ended_time_ns": 1792822828315611776, + "duration_s": 0.00022433, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822828315391168, + "ok": true, + "ended_time_ns": 1792822828315399242, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822828315400057, + "ok": true, + "ended_time_ns": 1792822828315402612, + "duration_s": 2.555e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822828315403094, + "ok": true, + "ended_time_ns": 1792822828315405890, + "duration_s": 2.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822828315406223, + "ok": true, + "ended_time_ns": 1792822828315601072, + "duration_s": 0.000194849 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822828315602313, + "ok": true, + "ended_time_ns": 1792822828315606091, + "duration_s": 3.778e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822828315606609, + "ok": true, + "ended_time_ns": 1792822828315609054, + "duration_s": 2.445e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822828315609424, + "ok": true, + "ended_time_ns": 1792822828315611369, + "duration_s": 1.945e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822828316243119, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822827814655018, + "frame_age_s": 0.501616842, + "heartbeat_age_s": 0.485975423, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822828316275897, + "duration_s": 3.2778e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822828316277730, + "status_ok": true, + "gap_mm": 83.04222581948417, + "reference_angle_deg": 103.974609375, + "sample_observed_time_ns": 1792822827826954111, + "sample_age_s": 0.489330434, + "heartbeat_age_s": 0.486000515, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822828316287674, + "duration_s": 9.944e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822828316292026, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822828316387858, + "duration_s": 9.5832e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822828325678463, + "ended_time_ns": 1792822828419714331, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142014_00044", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142014_00044", + "--control-generation", + "44", + "--ready-token", + "d8707fe2ddb248c2b2d7f9fa1e6e2fce", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822828419730528, + "ended_time_ns": 1792822828430471028, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "capture_start_time_ns": 1792822817906340895, + "capture_stop_time_ns": 1792822825268382825, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/right_hand", + "timing": { + "server_start_request_time_ns": 1792822814467254426, + "subprocess_popen_time_ns": 1792822814474216476, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822814562237377, + "validate_start_time_ns": 1792822815441536496, + "session_dir_create_start_time_ns": 1792822814563169184, + "session_dir_create_end_time_ns": 1792822814564288285, + "as5600_init_start_time_ns": 1792822814567337499, + "as5600_init_end_time_ns": 1792822814568439952, + "as5600_zero_start_time_ns": 1792822814570872764, + "as5600_zero_end_time_ns": 1792822815376302910, + "camera_init_start_time_ns": 1792822815377976802, + "camera_init_end_time_ns": 1792822815380099024, + "camera_start_start_time_ns": 1792822815382856926, + "camera_start_end_time_ns": 1792822815384488078, + "camera_first_frame_wait_start_time_ns": 1792822815386139859, + "camera_first_frame_wait_end_time_ns": 1792822815387756845, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822815389281220, + "armed_time_ns": 1792822815440062991, + "waiting_t0_time_ns": 1792822815443420979, + "recording_start_time_ns": 1792822817909227737, + "stop_request_time_ns": 1792822824420833395, + "finalized_time_ns": 1792822825274795924 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822814452354763, + "ended_time_ns": 1792822814452568631, + "duration_s": 0.000213868, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822814452358300, + "ok": true, + "ended_time_ns": 1792822814452366059, + "duration_s": 7.759e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822814452368022, + "ok": true, + "ended_time_ns": 1792822814452370985, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822814452371485, + "ok": true, + "ended_time_ns": 1792822814452374263, + "duration_s": 2.778e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822814452374651, + "ok": true, + "ended_time_ns": 1792822814452558039, + "duration_s": 0.000183388 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822814452559002, + "ok": true, + "ended_time_ns": 1792822814452562668, + "duration_s": 3.666e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822814452563242, + "ok": true, + "ended_time_ns": 1792822814452565650, + "duration_s": 2.408e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822814452566113, + "ok": true, + "ended_time_ns": 1792822814452568113, + "duration_s": 2e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 44, + "ready_token": "d8707fe2ddb248c2b2d7f9fa1e6e2fce", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "arm_request_id": "5649edde8acf4f1b93ac9c99d280e0f4", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3011, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 44, + "last_bootstrap_time_ns": 1792822826087277341, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822828110257133, + "capture_count": 510, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.4921875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822828101785171, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822828115439753 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822827570024589, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7918, + "displayed_count": 6165, + "dropped_count": 1751, + "decode_error_count": 0, + "last_receive_time_ns": 1792822827568255253, + "last_frame_time_ns": 1792822827432182371, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 44, + "last_bootstrap_time_ns": 1792822826087277341, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822828110257133, + "capture_count": 510, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.4921875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 170, + "max_queue_depth": 170, + "read_count": 170, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822828101785171, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822828115439753 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822828450540364, + "ended_time_ns": 1792822828461857198, + "duration_s": 0.001137379, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822828454635364, + "ended_time_ns": 1792822828454831751, + "duration_s": 0.000196387, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822828454638549, + "ok": true, + "ended_time_ns": 1792822828454645790, + "duration_s": 7.241e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822828454646753, + "ok": true, + "ended_time_ns": 1792822828454649716, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822828454650197, + "ok": true, + "ended_time_ns": 1792822828454653049, + "duration_s": 2.852e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822828454653438, + "ok": true, + "ended_time_ns": 1792822828454821677, + "duration_s": 0.000168239 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822828454822640, + "ok": true, + "ended_time_ns": 1792822828454826159, + "duration_s": 3.519e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822828454826677, + "ok": true, + "ended_time_ns": 1792822828454829177, + "duration_s": 2.5e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822828454829511, + "ok": true, + "ended_time_ns": 1792822828454831270, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822828455402005, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822828110257133, + "frame_age_s": 0.345171539, + "heartbeat_age_s": 0.339973308, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822828455433524, + "duration_s": 3.1519e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822828455435264, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 279.4921875, + "sample_observed_time_ns": 1792822828101785171, + "sample_age_s": 0.353661334, + "heartbeat_age_s": 0.340002159, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822828455449301, + "duration_s": 1.4037e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822828455454431, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822828455696892, + "duration_s": 0.000242461 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822828461879374, + "ended_time_ns": 1792822828566640734, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823113300828921, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823109816634517, + "ended_time_ns": 1792823109869037094, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823109869103120, + "ended_time_ns": 1792823109915240834, + "transferred_bytes": 13687, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,687 bytes\nTotal transferred file size: 13,687 bytes\nLiteral data: 13,687 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,823\n\nsent 46 bytes received 13,823 bytes 27,738.00 bytes/sec\ntotal size is 13,687 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823109915439444, + "ended_time_ns": 1792823113300222736, + "transferred_bytes": 8043389, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,043,389 bytes\nTotal transferred file size: 8,043,389 bytes\nLiteral data: 8,043,389 bytes\nMatched data: 0 bytes\nFile list size: 228\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,045,767\n\nsent 168 bytes received 8,045,767 bytes 1,787,985.56 bytes/sec\ntotal size is 8,043,389 speedup is 1.00" + } + ], + "transferred_bytes": 8057076, + "copied_local_bytes": 8520765, + "started_time_ns": 1792823109816272239, + "ended_time_ns": 1792823113300455638 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823109816664886, + "ended_time_ns": 1792823109863342000, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823109863416172, + "ended_time_ns": 1792823109899020917, + "transferred_bytes": 13701, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,701 bytes\nTotal transferred file size: 13,701 bytes\nLiteral data: 13,701 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,837\n\nsent 46 bytes received 13,837 bytes 27,766.00 bytes/sec\ntotal size is 13,701 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823109899215131, + "ended_time_ns": 1792823110472973922, + "transferred_bytes": 8546900, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,546,900 bytes\nTotal transferred file size: 8,546,900 bytes\nLiteral data: 8,546,900 bytes\nMatched data: 0 bytes\nFile list size: 220\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,549,394\n\nsent 168 bytes received 8,549,394 bytes 5,699,708.00 bytes/sec\ntotal size is 8,546,900 speedup is 1.00" + } + ], + "transferred_bytes": 8560601, + "copied_local_bytes": 9009206, + "started_time_ns": 1792823109816419768, + "ended_time_ns": 1792823110473559935 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_142028_00045", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823375742307985, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823375340366418, + "ended_time_ns": 1792823375741964175, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823375340366418, + "ended_time_ns": 1792823375521811957, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142028_00045", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142028_00045_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142028_00045 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142028_00045_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142028_00045_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142028_00045_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142028_00045\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822832148594100\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822832148594100，vive_T0=1792822832148594100，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822838539427095，vive_Tstop=1792822838539427095，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.009182s，first=1792822832157776450，T0=1792822832148594100，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001698s，last=1792822838537728743，Tstop=1792822838539427095，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1277\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00149552842433 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00149552842433 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1277，metadata 1277\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00149121095868 Hz，最低 150.0 Hz，时长 6.379952430725098 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00149121095868 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.0059223175048828125s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993725759..1.0000000005737169，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.001891492620228277m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.4191066260178249deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=256 duration=6.4s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=256，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 256，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=255，rows=256，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=256，monotonic违规=0，估算频率=40.038888752045736Hz，最大间隔=0.031873923s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 256，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.03889177595643 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03889177595643 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.031873812s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 383，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.8361..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 383，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00026835826835 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00026835826835 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019855862s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=383，bad_rows=0，monotonic违规=0，估算频率=60.00027672693074Hz，最大间隔=0.019856714s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 256，metadata 256\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 383，metadata 383\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 256，timestamps 256，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=256，timestamps=256，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=6.4s，timestamps=6.3688076439999985s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.002s，camera=6.3688076439999985s，clamp=6.366638190999997s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822832148594100，pi_T0=1792822832148594100，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822838539427095，pi_Tstop=1792822838539427095，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.015537s，first=1792822832164131355，T0=1792822832148594100，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.011724s，first=1792822832160318184，T0=1792822832148594100，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.006488s，last=1792822838532938999，Tstop=1792822838539427095，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.012471s，last=1792822838526956375，Tstop=1792822838539427095，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.011145s，vive=6.379952293s，camera=6.3688076439999985s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.013314s，vive=6.379952293s，clamp=6.366638190999997s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.006355s，vive_first=1792822832157776450，camera_first=1792822832164131355，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.002542s，vive_first=1792822832157776450，clamp_first=1792822832160318184，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.004790s，vive_last=1792822838537728743，camera_last=1792822838532938999，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.010772s，vive_last=1792822838537728743，clamp_last=1792822838526956375，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142028_00045_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823375522382800, + "ended_time_ns": 1792823375741964175, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142028_00045", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142028_00045_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142028_00045 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142028_00045_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142028_00045_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142028_00045_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142028_00045\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822832148594100\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822832148594100，vive_T0=1792822832148594100，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822838539427095，vive_Tstop=1792822838539427095，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.009182s，first=1792822832157776450，T0=1792822832148594100，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001698s，last=1792822838537728743，Tstop=1792822838539427095，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1277\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00149552842433 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00149552842433 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1277，metadata 1277\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00149121095868 Hz，最低 150.0 Hz，时长 6.379952430725098 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00149121095868 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.0059223175048828125s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994216825..1.0000000005593508，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0013174938384208875m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.454264320139717deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=256 duration=6.4s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=256，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 256，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=255，rows=256，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=256，monotonic违规=0，估算频率=40.022479217157205Hz，最大间隔=0.032645654s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 256，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.022487125647956 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.022487125647956 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032645209s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 384，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 47.0249..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 384，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99997055458365 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99997055458365 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018275004s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=384，bad_rows=0，monotonic违规=0，估算频率=59.9999729890461Hz，最大间隔=0.018278671s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 256，metadata 256\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 384，metadata 384\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 256，timestamps 256，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=256，timestamps=256，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.029s，video=6.4s，timestamps=6.371418128s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.012s，camera=6.371418128s，clamp=6.383336465999999s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822832148594100，pi_T0=1792822832148594100，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822838539427095，pi_Tstop=1792822838539427095，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.009106s，first=1792822832157700425，T0=1792822832148594100，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.003191s，first=1792822832151785496，T0=1792822832148594100，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.010309s，last=1792822838529118553，Tstop=1792822838539427095，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.004305s，last=1792822838535121962，Tstop=1792822838539427095，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.008534s，vive=6.379952293s，camera=6.371418128s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.003384s，vive=6.379952293s，clamp=6.383336465999999s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.000076s，vive_first=1792822832157776450，camera_first=1792822832157700425，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.005991s，vive_first=1792822832157776450，clamp_first=1792822832151785496，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.008610s，vive_last=1792822838537728743，camera_last=1792822838529118553，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.002607s，vive_last=1792822838537728743，clamp_last=1792822838535121962，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142028_00045_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142028_00045_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142028_00045\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822832148594100\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822832148594100，vive_T0=1792822832148594100，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822838539427095，vive_Tstop=1792822838539427095，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.009182s，first=1792822832157776450，T0=1792822832148594100，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001698s，last=1792822838537728743，Tstop=1792822838539427095，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1277\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00149552842433 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00149552842433 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1277，metadata 1277\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00149121095868 Hz，最低 150.0 Hz，时长 6.379952430725098 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00149121095868 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.0059223175048828125s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993725759..1.0000000005737169，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.001891492620228277m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.4191066260178249deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=256 duration=6.4s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=256，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 256，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=255，rows=256，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=256，monotonic违规=0，估算频率=40.038888752045736Hz，最大间隔=0.031873923s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 256，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.03889177595643 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03889177595643 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.031873812s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 383，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.8361..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 383，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00026835826835 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00026835826835 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019855862s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=383，bad_rows=0，monotonic违规=0，估算频率=60.00027672693074Hz，最大间隔=0.019856714s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 256，metadata 256\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 383，metadata 383\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 256，timestamps 256，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=256，timestamps=256，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=6.4s，timestamps=6.3688076439999985s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.002s，camera=6.3688076439999985s，clamp=6.366638190999997s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822832148594100，pi_T0=1792822832148594100，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822838539427095，pi_Tstop=1792822838539427095，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.015537s，first=1792822832164131355，T0=1792822832148594100，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.011724s，first=1792822832160318184，T0=1792822832148594100，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.006488s，last=1792822838532938999，Tstop=1792822838539427095，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.012471s，last=1792822838526956375，Tstop=1792822838539427095，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.011145s，vive=6.379952293s，camera=6.3688076439999985s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.013314s，vive=6.379952293s，clamp=6.366638190999997s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.006355s，vive_first=1792822832157776450，camera_first=1792822832164131355，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.002542s，vive_first=1792822832157776450，clamp_first=1792822832160318184，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.004790s，vive_last=1792822838537728743，camera_last=1792822838532938999，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.010772s，vive_last=1792822838537728743，clamp_last=1792822838526956375，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142028_00045_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142028_00045\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822832148594100\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822832148594100，vive_T0=1792822832148594100，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822838539427095，vive_Tstop=1792822838539427095，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.009182s，first=1792822832157776450，T0=1792822832148594100，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001698s，last=1792822838537728743，Tstop=1792822838539427095，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1277\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00149552842433 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00149552842433 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1277，metadata 1277\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00149121095868 Hz，最低 150.0 Hz，时长 6.379952430725098 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00149121095868 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.0059223175048828125s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994216825..1.0000000005593508，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0013174938384208875m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.454264320139717deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=256 duration=6.4s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=256，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 256，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=255，rows=256，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=256，monotonic违规=0，估算频率=40.022479217157205Hz，最大间隔=0.032645654s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 256，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.022487125647956 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.022487125647956 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032645209s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 384，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 47.0249..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 384，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99997055458365 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99997055458365 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018275004s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=384，bad_rows=0，monotonic违规=0，估算频率=59.9999729890461Hz，最大间隔=0.018278671s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 256，metadata 256\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 384，metadata 384\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 256，timestamps 256，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=256，timestamps=256，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.029s，video=6.4s，timestamps=6.371418128s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.012s，camera=6.371418128s，clamp=6.383336465999999s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822832148594100，pi_T0=1792822832148594100，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822838539427095，pi_Tstop=1792822838539427095，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.009106s，first=1792822832157700425，T0=1792822832148594100，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.003191s，first=1792822832151785496，T0=1792822832148594100，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.010309s，last=1792822838529118553，Tstop=1792822838539427095，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.004305s，last=1792822838535121962，Tstop=1792822838539427095，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.008534s，vive=6.379952293s，camera=6.371418128s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.003384s，vive=6.379952293s，clamp=6.383336465999999s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.000076s，vive_first=1792822832157776450，camera_first=1792822832157700425，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.005991s，vive_first=1792822832157776450，clamp_first=1792822832151785496，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.008610s，vive_last=1792822838537728743，camera_last=1792822838529118553，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.002607s，vive_last=1792822838537728743，clamp_last=1792822838535121962，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142028_00045_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142028_00045/control/stop_left_hand.flag b/stack the blocks/session_20261024_142028_00045/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..35cefdceceeb6fd9afe6f4642677a09b7e026c81 --- /dev/null +++ b/stack the blocks/session_20261024_142028_00045/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822838539427095 \ No newline at end of file diff --git a/stack the blocks/session_20261024_142028_00045/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the blocks/session_20261024_142028_00045/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 0000000000000000000000000000000000000000..061cbb80cf086b292f26abacd92d2ce4cc67c66e --- /dev/null +++ b/stack the blocks/session_20261024_142028_00045/left_hand/Clamp_Data/clamp_data_tum.txt @@ -0,0 +1,383 @@ +1792822832.160318184 100.0000 +1792822832.176959719 100.0000 +1792822832.193625217 100.0000 +1792822832.210306011 100.0000 +1792822832.226957398 100.0000 +1792822832.243622841 100.0000 +1792822832.263478703 100.0000 +1792822832.276956040 100.0000 +1792822832.293638982 100.0000 +1792822832.310310795 100.0000 +1792822832.326956682 100.0000 +1792822832.343626865 100.0000 +1792822832.360308030 100.0000 +1792822832.377137674 100.0000 +1792822832.393632637 100.0000 +1792822832.410320246 100.0000 +1792822832.426960892 100.0000 +1792822832.443627631 100.0000 +1792822832.460318943 100.0000 +1792822832.476958645 100.0000 +1792822832.493625550 100.0000 +1792822832.510308770 100.0000 +1792822832.526962861 100.0000 +1792822832.543626415 100.0000 +1792822832.560305986 100.0000 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"write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822832148594100, + "capture_stop_time_ns": 1792822838539427095 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 102.99499512022886, + "reference_source": "max_open_init", + "zero_angle_deg": 102.99499512022886, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 5.889e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822832151636468, + "camera_frame_count": 256, + "camera_started_time_ns": 1792822829559807699, + "camera_stopped_time_ns": 1792822838546591982, + "camera_actual_fps": 28.486274059595114, + "camera_first_frame_time_ns": 1792822832164131355, + "camera_last_frame_time_ns": 1792822838532938999, + "camera_frame_timestamp_fps": 40.03889177595642, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822838532938999, + "capture_count": 360, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 383, + "clamp_first_sample_time_ns": 1792822832160318184, + "clamp_last_sample_time_ns": 1792822838526956375, + "clamp_actual_hz": 60.00026835826833, + "clamp_value_min": 99.83605240062708, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 209, + "read_count": 1650, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1600 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..39295966b7f62f22a3f998a1dba1d61577c61833 --- /dev/null +++ b/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822828672062529, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_142028_00045", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142014_00044", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142014_00044", + "--control-generation", + "44", + "--ready-token", + "63f3fea6336d416b82b65c80c9e2e5d9", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822828672609381, + "ended_time_ns": 1792822828687982796, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "capture_start_time_ns": 1792822817906340895, + "capture_stop_time_ns": 1792822825268382825, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/left_hand", + "timing": { + "server_start_request_time_ns": 1792822814489167401, + "subprocess_popen_time_ns": 1792822814494254925, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + 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+ "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822828315391168, + "ok": true, + "ended_time_ns": 1792822828315399242, + "duration_s": 8.074e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822828315400057, + "ok": true, + "ended_time_ns": 1792822828315402612, + "duration_s": 2.555e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822828315403094, + "ok": true, + "ended_time_ns": 1792822828315405890, + "duration_s": 2.796e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822828315406223, + "ok": true, + "ended_time_ns": 1792822828315601072, + "duration_s": 0.000194849 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822828315602313, + "ok": true, + "ended_time_ns": 1792822828315606091, + "duration_s": 3.778e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822828315606609, + "ok": true, + "ended_time_ns": 1792822828315609054, + "duration_s": 2.445e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822828315609424, + "ok": true, + "ended_time_ns": 1792822828315611369, + "duration_s": 1.945e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822828316243119, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822827814655018, + "frame_age_s": 0.501616842, + "heartbeat_age_s": 0.485975423, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822828316275897, + "duration_s": 3.2778e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822828316277730, + "status_ok": true, + "gap_mm": 83.04222581948417, + "reference_angle_deg": 103.974609375, + "sample_observed_time_ns": 1792822827826954111, + "sample_age_s": 0.489330434, + "heartbeat_age_s": 0.486000515, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822828316287674, + "duration_s": 9.944e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822828316288767, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822828316291008, + "duration_s": 2.241e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822828316292026, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822828316387858, + "duration_s": 9.5832e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 44, + "ready_token": "63f3fea6336d416b82b65c80c9e2e5d9", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "arm_request_id": "5649edde8acf4f1b93ac9c99d280e0f4", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2183, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 44, + "last_bootstrap_time_ns": 1792822825280953911, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822828314559383, + "capture_count": 521, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.974609375, + "gripper_gap_mm": 83.04222581948417, + "status_ok": true, + "queue_size": 600, + "queue_depth": 184, + "max_queue_depth": 207, + "read_count": 1037, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822828326959901, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822828334975886 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822828662115280, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8409, + "displayed_count": 8178, + "dropped_count": 230, + "decode_error_count": 0, + "last_receive_time_ns": 1792822828601796739, + "last_frame_time_ns": 1792822828575192468, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 44, + "last_bootstrap_time_ns": 1792822825280953911, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822828314559383, + "capture_count": 521, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.974609375, + "gripper_gap_mm": 83.04222581948417, + "status_ok": true, + "queue_size": 600, + "queue_depth": 184, + "max_queue_depth": 207, + "read_count": 1037, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822828326959901, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822828334975886 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822828691139652, + "ended_time_ns": 1792822828699553424, + "duration_s": 0.000204479, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822828690455380, + "ok": true, + "ended_time_ns": 1792822828690463565, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822828690465231, + "ok": true, + "ended_time_ns": 1792822828690467731, + "duration_s": 2.5e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822828690468176, + "ok": true, + "ended_time_ns": 1792822828690471398, + "duration_s": 3.222e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822828690471768, + "ok": true, + "ended_time_ns": 1792822828690645988, + "duration_s": 0.00017422 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822828690646896, + "ok": true, + "ended_time_ns": 1792822828690650396, + "duration_s": 3.5e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822828690650933, + "ok": true, + "ended_time_ns": 1792822828690653340, + "duration_s": 2.407e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822828690653673, + "ok": true, + "ended_time_ns": 1792822828690655599, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_142028_00045", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142028_00045", + "--control-generation", + "45", + "--ready-token", + "18800c1509ca42bab7d3088c9f6347c5", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822828709557900, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "timing": { + "server_start_request_time_ns": 1792822828704628152, + "subprocess_popen_time_ns": 1792822828709557900, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822828690451546, + "ended_time_ns": 1792822828690656025, + "duration_s": 0.000204479, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822828690455380, + "ok": true, + "ended_time_ns": 1792822828690463565, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822828690465231, + "ok": true, + "ended_time_ns": 1792822828690467731, + "duration_s": 2.5e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822828690468176, + "ok": true, + "ended_time_ns": 1792822828690471398, + "duration_s": 3.222e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822828690471768, + "ok": true, + "ended_time_ns": 1792822828690645988, + "duration_s": 0.00017422 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822828690646896, + "ok": true, + "ended_time_ns": 1792822828690650396, + "duration_s": 3.5e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822828690650933, + "ok": true, + "ended_time_ns": 1792822828690653340, + "duration_s": 2.407e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822828690653673, + "ok": true, + "ended_time_ns": 1792822828690655599, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 45, + "ready_token": "18800c1509ca42bab7d3088c9f6347c5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2184, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 44, + "last_bootstrap_time_ns": 1792822825280953911, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822828314559383, + "capture_count": 521, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.974609375, + "gripper_gap_mm": 83.04222581948417, + "status_ok": true, + "queue_size": 600, + "queue_depth": 184, + "max_queue_depth": 207, + "read_count": 1037, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822828326959901, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822828334975886 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822828662115280, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8409, + "displayed_count": 8178, + "dropped_count": 230, + "decode_error_count": 0, + "last_receive_time_ns": 1792822828601796739, + "last_frame_time_ns": 1792822828575192468, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 44, + "last_bootstrap_time_ns": 1792822825280953911, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822828314559383, + "capture_count": 521, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.974609375, + "gripper_gap_mm": 83.04222581948417, + "status_ok": true, + "queue_size": 600, + "queue_depth": 184, + "max_queue_depth": 207, + "read_count": 1037, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822828326959901, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822828334975886 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822828703420203, + "ended_time_ns": 1792822828728748872 + }, + "pi_start_request_time_ns": 1792822828728756338, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822828732259781, + "capture_start_time_ns": 1792822832148594100, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822837721600499, + "capture_stop_time_ns": 1792822838539427095, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142028_00045", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142028_00045", + "--control-generation", + "45", + "--ready-token", + "18800c1509ca42bab7d3088c9f6347c5", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822828709557900, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "capture_start_time_ns": 1792822832148594100, + "capture_stop_time_ns": 1792822838539427095, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "timing": { + "server_start_request_time_ns": 1792822828704628152, + "subprocess_popen_time_ns": 1792822828709557900, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822828746184833, + "validate_start_time_ns": 1792822829657660438, + "session_dir_create_start_time_ns": 1792822828746920953, + "session_dir_create_end_time_ns": 1792822828747836941, + "as5600_init_start_time_ns": 1792822828748866964, + "as5600_init_end_time_ns": 1792822828749755563, + "as5600_zero_start_time_ns": 1792822828751103619, + "as5600_zero_end_time_ns": 1792822829556408985, + "camera_init_start_time_ns": 1792822829557872206, + "camera_init_end_time_ns": 1792822829559812495, + "camera_start_start_time_ns": 1792822829562925361, + "camera_start_end_time_ns": 1792822829564777132, + "camera_first_frame_wait_start_time_ns": 1792822829566531775, + "camera_first_frame_wait_end_time_ns": 1792822829568108439, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822829569547234, + "armed_time_ns": 1792822829656738635, + "waiting_t0_time_ns": 1792822829659447784, + "recording_start_time_ns": 1792822832151725429, + "stop_request_time_ns": 1792822837721074239, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822828690451546, + "ended_time_ns": 1792822828690656025, + "duration_s": 0.000204479, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822828690455380, + "ok": true, + "ended_time_ns": 1792822828690463565, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822828690465231, + "ok": true, + "ended_time_ns": 1792822828690467731, + "duration_s": 2.5e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822828690468176, + "ok": true, + "ended_time_ns": 1792822828690471398, + "duration_s": 3.222e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822828690471768, + "ok": true, + "ended_time_ns": 1792822828690645988, + "duration_s": 0.00017422 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822828690646896, + "ok": true, + "ended_time_ns": 1792822828690650396, + "duration_s": 3.5e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822828690650933, + "ok": true, + "ended_time_ns": 1792822828690653340, + "duration_s": 2.407e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822828690653673, + "ok": true, + "ended_time_ns": 1792822828690655599, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 45, + "ready_token": "18800c1509ca42bab7d3088c9f6347c5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "arm_request_id": "17a1ce37b7b74c868b4803d77fe04195", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2184, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 44, + "last_bootstrap_time_ns": 1792822825280953911, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822828739883400, + "capture_count": 538, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.974609375, + "gripper_gap_mm": 83.04222581948417, + "status_ok": true, + "queue_size": 600, + "queue_depth": 208, + "max_queue_depth": 208, + "read_count": 1061, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822828726962425, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822828741561914 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822837723082786, + "ended_time_ns": 1792822837737376292, + "capture_stop_time_ns": 1792822838539427095, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_142028_00045", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 137671 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 139193 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141728 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 140014 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 139193 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129669 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142028_00045", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142028_00045", + "--control-generation", + "45", + "--ready-token", + "18800c1509ca42bab7d3088c9f6347c5", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822839569293407, + "ended_time_ns": 1792822839586067011, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "capture_start_time_ns": 1792822832148594100, + "capture_stop_time_ns": 1792822838539427095, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "timing": { + "server_start_request_time_ns": 1792822828704628152, + "subprocess_popen_time_ns": 1792822828709557900, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822828746184833, + "validate_start_time_ns": 1792822829657660438, + "session_dir_create_start_time_ns": 1792822828746920953, + "session_dir_create_end_time_ns": 1792822828747836941, + "as5600_init_start_time_ns": 1792822828748866964, + "as5600_init_end_time_ns": 1792822828749755563, + "as5600_zero_start_time_ns": 1792822828751103619, + "as5600_zero_end_time_ns": 1792822829556408985, + "camera_init_start_time_ns": 1792822829557872206, + "camera_init_end_time_ns": 1792822829559812495, + "camera_start_start_time_ns": 1792822829562925361, + "camera_start_end_time_ns": 1792822829564777132, + "camera_first_frame_wait_start_time_ns": 1792822829566531775, + "camera_first_frame_wait_end_time_ns": 1792822829568108439, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822829569547234, + "armed_time_ns": 1792822829656738635, + "waiting_t0_time_ns": 1792822829659447784, + "recording_start_time_ns": 1792822832151725429, + "stop_request_time_ns": 1792822837722807827, + "finalized_time_ns": 1792822838548116683 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822828690451546, + "ended_time_ns": 1792822828690656025, + "duration_s": 0.000204479, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822828690455380, + "ok": true, + "ended_time_ns": 1792822828690463565, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822828690465231, + "ok": true, + "ended_time_ns": 1792822828690467731, + "duration_s": 2.5e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822828690468176, + "ok": true, + "ended_time_ns": 1792822828690471398, + "duration_s": 3.222e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822828690471768, + "ok": true, + "ended_time_ns": 1792822828690645988, + "duration_s": 0.00017422 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822828690646896, + "ok": true, + "ended_time_ns": 1792822828690650396, + "duration_s": 3.5e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822828690650933, + "ok": true, + "ended_time_ns": 1792822828690653340, + "duration_s": 2.407e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822828690653673, + "ok": true, + "ended_time_ns": 1792822828690655599, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 45, + "ready_token": "18800c1509ca42bab7d3088c9f6347c5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "arm_request_id": "17a1ce37b7b74c868b4803d77fe04195", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2184, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 45, + "last_bootstrap_time_ns": 1792822838552297849, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822839058100635, + "capture_count": 381, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.99499512022886, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 32, + "max_queue_depth": 209, + "read_count": 1681, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822839060289124, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822839069115227 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822839126629435, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8499, + "displayed_count": 8262, + "dropped_count": 235, + "decode_error_count": 0, + "last_receive_time_ns": 1792822839089735950, + "last_frame_time_ns": 1792822839026690947, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 45, + "last_bootstrap_time_ns": 1792822838552297849, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822839058100635, + "capture_count": 381, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.99499512022886, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 32, + "max_queue_depth": 209, + "read_count": 1681, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822839060289124, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822839069115227 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792822839641759781, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792822839641758194 + } + }, + "updated_time_ns": 1792822839641762591 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7e857b1fb992cd2ccdda6bdec8422b3d1c772ff5 --- /dev/null +++ b/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822828735229803, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "left_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-26B06EF4", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792822832148594100, + "capture_stop_time_ns": 1792822838539427095, + "effective_capture_stop_time_ns": 1792822838539427095, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 1, + "tracker_serial_used": "LHR-26B06EF4", + "vive_bias": { + "x0": 0.10174378752708435, + "y0": -0.7391732335090637, + "z0": -0.6295281648635864, + "qx0": 0.07471779009686476, + "qy0": 0.7369285797258062, + "qz0": -0.13406985172638597, + "qw0": 0.6583151183775229 + }, + "zero_reference_sample_ns": 1792822832157776450 + }, + "data_mark": "FORMAL", + "test_artifact": false, + "result": { + "sample_count": 1277, + "invalid_reads": 0, + "disconnected_reads": 0, + "invalid_pose_reads": 0, + "recording_disconnected_reads": 0, + 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"主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822832148594100, + "capture_stop_time_ns": 1792822838539427095 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 279.66796875, + "reference_source": "max_open_init", + "zero_angle_deg": 279.66796875, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 5.944e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822832153715238, + "camera_frame_count": 256, + "camera_started_time_ns": 1792822829556672556, + "camera_stopped_time_ns": 1792822838543494147, + "camera_actual_fps": 28.486155801331964, + "camera_first_frame_time_ns": 1792822832157700425, + "camera_last_frame_time_ns": 1792822838529118553, + "camera_frame_timestamp_fps": 40.022487125647956, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822838529118553, + "capture_count": 360, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 384, + "clamp_first_sample_time_ns": 1792822832151785496, + "clamp_last_sample_time_ns": 1792822838535121962, + "clamp_actual_hz": 59.99997055458364, + "clamp_value_min": 47.02493393898364, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 208, + "read_count": 796, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1600 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e1f1ff194e4ae078e8832e56a2a8f0caad009a45 --- /dev/null +++ b/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822828676690592, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_142028_00045", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142014_00044", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142014_00044", + "--control-generation", + "44", + "--ready-token", + "d8707fe2ddb248c2b2d7f9fa1e6e2fce", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822828677176389, + "ended_time_ns": 1792822828692683172, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.diagnostics.json", + "capture_start_time_ns": 1792822817906340895, + "capture_stop_time_ns": 1792822825268382825, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142014_00044/right_hand", + "timing": { + "server_start_request_time_ns": 1792822814467254426, + "subprocess_popen_time_ns": 1792822814474216476, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822814562237377, + "validate_start_time_ns": 1792822815441536496, + "session_dir_create_start_time_ns": 1792822814563169184, + "session_dir_create_end_time_ns": 1792822814564288285, + "as5600_init_start_time_ns": 1792822814567337499, + "as5600_init_end_time_ns": 1792822814568439952, + "as5600_zero_start_time_ns": 1792822814570872764, + "as5600_zero_end_time_ns": 1792822815376302910, + "camera_init_start_time_ns": 1792822815377976802, + "camera_init_end_time_ns": 1792822815380099024, + "camera_start_start_time_ns": 1792822815382856926, + "camera_start_end_time_ns": 1792822815384488078, + "camera_first_frame_wait_start_time_ns": 1792822815386139859, + "camera_first_frame_wait_end_time_ns": 1792822815387756845, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822815389281220, + "armed_time_ns": 1792822815440062991, + "waiting_t0_time_ns": 1792822815443420979, + "recording_start_time_ns": 1792822817909227737, + "stop_request_time_ns": 1792822824420833395, + "finalized_time_ns": 1792822825274795924 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822828454561513, + "ended_time_ns": 1792822828455698892, + "duration_s": 0.001137379, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822828454635364, + "ended_time_ns": 1792822828454831751, + "duration_s": 0.000196387, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822828454638549, + "ok": true, + "ended_time_ns": 1792822828454645790, + "duration_s": 7.241e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822828454646753, + "ok": true, + "ended_time_ns": 1792822828454649716, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822828454650197, + "ok": true, + "ended_time_ns": 1792822828454653049, + "duration_s": 2.852e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822828454653438, + "ok": true, + "ended_time_ns": 1792822828454821677, + "duration_s": 0.000168239 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822828454822640, + "ok": true, + "ended_time_ns": 1792822828454826159, + "duration_s": 3.519e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822828454826677, + "ok": true, + "ended_time_ns": 1792822828454829177, + "duration_s": 2.5e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822828454829511, + "ok": true, + "ended_time_ns": 1792822828454831270, + "duration_s": 1.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822828455402005, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822828110257133, + "frame_age_s": 0.345171539, + "heartbeat_age_s": 0.339973308, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822828455433524, + "duration_s": 3.1519e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822828455435264, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 279.4921875, + "sample_observed_time_ns": 1792822828101785171, + "sample_age_s": 0.353661334, + "heartbeat_age_s": 0.340002159, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822828455449301, + "duration_s": 1.4037e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822828455450486, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822828455453098, + "duration_s": 2.612e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822828455454431, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822828455696892, + "duration_s": 0.000242461 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 44, + "ready_token": "d8707fe2ddb248c2b2d7f9fa1e6e2fce", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142014_00044.ready.json", + "arm_request_id": "5649edde8acf4f1b93ac9c99d280e0f4", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3011, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 44, + "last_bootstrap_time_ns": 1792822826087277341, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822828609252488, + "capture_count": 530, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.4921875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 201, + "max_queue_depth": 201, + "read_count": 201, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822828618451832, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822828622198021 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822828659410449, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7927, + "displayed_count": 6173, + "dropped_count": 1752, + "decode_error_count": 0, + "last_receive_time_ns": 1792822828649001449, + "last_frame_time_ns": 1792822828514647756, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 44, + "last_bootstrap_time_ns": 1792822826087277341, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822828609252488, + "capture_count": 530, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.4921875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 201, + "max_queue_depth": 201, + "read_count": 201, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822828618451832, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822828622198021 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + 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seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822828695504512, + "ended_time_ns": 1792822828703403407, + 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3.945e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822828698292066, + "ok": true, + "ended_time_ns": 1792822828698294862, + "duration_s": 2.796e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822828698295214, + "ok": true, + "ended_time_ns": 1792822828698296881, + "duration_s": 1.667e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_142028_00045", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + 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Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, 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measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 45, + "ready_token": "18054e134c594e1583ab867dee49615d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3012, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 44, + "last_bootstrap_time_ns": 1792822826087277341, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822828609252488, + "capture_count": 530, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.4921875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 201, + "max_queue_depth": 201, + "read_count": 201, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822828618451832, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822828622198021 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822828659410449, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 7927, + "displayed_count": 6173, + "dropped_count": 1752, + "decode_error_count": 0, + "last_receive_time_ns": 1792822828649001449, + "last_frame_time_ns": 1792822828514647756, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142014_00044", + "generation": 44, + "session_count": 44, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 44, + "last_bootstrap_time_ns": 1792822826087277341, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822828609252488, + "capture_count": 530, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.4921875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 201, + "max_queue_depth": 201, + "read_count": 201, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822828618451832, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822828622198021 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822828706919327, + "ended_time_ns": 1792822828732766818 + }, + "pi_start_request_time_ns": 1792822828732774783, + "capture_start_time_ns": 1792822832148594100, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822837683572051, + "capture_stop_time_ns": 1792822838539427095, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142028_00045", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142028_00045", + "--control-generation", + "45", + "--ready-token", + "18054e134c594e1583ab867dee49615d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822828716621162, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "capture_start_time_ns": 1792822832148594100, + "capture_stop_time_ns": 1792822838539427095, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/right_hand", + "timing": { + "server_start_request_time_ns": 1792822828711682187, + "subprocess_popen_time_ns": 1792822828716621162, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822828731100348, + "validate_start_time_ns": 1792822829672810874, + "session_dir_create_start_time_ns": 1792822828732163524, + "session_dir_create_end_time_ns": 1792822828733887823, + "as5600_init_start_time_ns": 1792822828737936935, + "as5600_init_end_time_ns": 1792822828743965771, + "as5600_zero_start_time_ns": 1792822828746881745, + "as5600_zero_end_time_ns": 1792822829550339094, + "camera_init_start_time_ns": 1792822829554070727, + "camera_init_end_time_ns": 1792822829556679408, + "camera_start_start_time_ns": 1792822829558316023, + "camera_start_end_time_ns": 1792822829560282876, + "camera_first_frame_wait_start_time_ns": 1792822829562046619, + "camera_first_frame_wait_end_time_ns": 1792822829563753585, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822829565299812, + "armed_time_ns": 1792822829671832383, + "waiting_t0_time_ns": 1792822829674693894, + "recording_start_time_ns": 1792822832153748608, + "stop_request_time_ns": 1792822837686184944, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822828698100142, + "ended_time_ns": 1792822828698297418, + "duration_s": 0.000197276, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822828698103808, + "ok": true, + "ended_time_ns": 1792822828698110919, + "duration_s": 7.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822828698112919, + "ok": true, + "ended_time_ns": 1792822828698115882, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822828698116308, + "ok": true, + "ended_time_ns": 1792822828698119530, + "duration_s": 3.222e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822828698119919, + "ok": true, + "ended_time_ns": 1792822828698286233, + "duration_s": 0.000166314 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822828698287436, + "ok": true, + "ended_time_ns": 1792822828698291381, + "duration_s": 3.945e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822828698292066, + "ok": true, + "ended_time_ns": 1792822828698294862, + "duration_s": 2.796e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822828698295214, + "ok": true, + "ended_time_ns": 1792822828698296881, + "duration_s": 1.667e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 45, + "ready_token": "18054e134c594e1583ab867dee49615d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "arm_request_id": "17a1ce37b7b74c868b4803d77fe04195", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3012, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 44, + "last_bootstrap_time_ns": 1792822826087277341, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822828709449800, + "capture_count": 534, + "capture_error_count": 0, + "writer_count": 295, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.4921875, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 207, + "max_queue_depth": 207, + "read_count": 207, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822828718454201, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822828727688767 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822837684692427, + "ended_time_ns": 1792822837697178381, + "capture_stop_time_ns": 1792822838539427095, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142028_00045", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142028_00045", + "--control-generation", + "45", + "--ready-token", + "18054e134c594e1583ab867dee49615d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822839734634649, + "ended_time_ns": 1792822839745612580, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "capture_start_time_ns": 1792822832148594100, + "capture_stop_time_ns": 1792822838539427095, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/right_hand", + "timing": { + "server_start_request_time_ns": 1792822828711682187, + "subprocess_popen_time_ns": 1792822828716621162, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822828731100348, + "validate_start_time_ns": 1792822829672810874, + "session_dir_create_start_time_ns": 1792822828732163524, + "session_dir_create_end_time_ns": 1792822828733887823, + "as5600_init_start_time_ns": 1792822828737936935, + "as5600_init_end_time_ns": 1792822828743965771, + "as5600_zero_start_time_ns": 1792822828746881745, + "as5600_zero_end_time_ns": 1792822829550339094, + "camera_init_start_time_ns": 1792822829554070727, + "camera_init_end_time_ns": 1792822829556679408, + "camera_start_start_time_ns": 1792822829558316023, + "camera_start_end_time_ns": 1792822829560282876, + "camera_first_frame_wait_start_time_ns": 1792822829562046619, + "camera_first_frame_wait_end_time_ns": 1792822829563753585, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822829565299812, + "armed_time_ns": 1792822829671832383, + "waiting_t0_time_ns": 1792822829674693894, + "recording_start_time_ns": 1792822832153748608, + "stop_request_time_ns": 1792822837688170000, + "finalized_time_ns": 1792822838545360315 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822828698100142, + "ended_time_ns": 1792822828698297418, + "duration_s": 0.000197276, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822828698103808, + "ok": true, + "ended_time_ns": 1792822828698110919, + "duration_s": 7.111e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822828698112919, + "ok": true, + "ended_time_ns": 1792822828698115882, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822828698116308, + "ok": true, + "ended_time_ns": 1792822828698119530, + "duration_s": 3.222e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822828698119919, + "ok": true, + "ended_time_ns": 1792822828698286233, + "duration_s": 0.000166314 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822828698287436, + "ok": true, + "ended_time_ns": 1792822828698291381, + "duration_s": 3.945e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822828698292066, + "ok": true, + "ended_time_ns": 1792822828698294862, + "duration_s": 2.796e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822828698295214, + "ok": true, + "ended_time_ns": 1792822828698296881, + "duration_s": 1.667e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 45, + "ready_token": "18054e134c594e1583ab867dee49615d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "arm_request_id": "17a1ce37b7b74c868b4803d77fe04195", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3012, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 45, + "last_bootstrap_time_ns": 1792822839356664539, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822839352264023, + "capture_count": 393, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.0119628876578, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822839354445578, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822839359966973 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822839068117570, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8018, + "displayed_count": 6233, + "dropped_count": 1783, + "decode_error_count": 0, + "last_receive_time_ns": 1792822839057976086, + "last_frame_time_ns": 1792822838980824625, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 45, + "last_bootstrap_time_ns": 1792822839356664539, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822839352264023, + "capture_count": 393, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.0119628876578, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822839354445578, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822839359966973 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200, + "status_poll_attempts": 3 + }, + "final_ok": true + }, + "updated_time_ns": 1792822839748706850 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..a14d0222889654553252aeb7634e6d86b27e550f --- /dev/null +++ b/stack the blocks/session_20261024_142028_00045/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822828735245158, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142028_00045/right_hand", + 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"/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Merged_Trajectory/merged_trajectory.txt", "exists": true, "size_bytes": 141930}, "raw_vive_pose.txt": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Merged_Trajectory/raw_vive_pose.txt", "exists": true, "size_bytes": 141700}, "merged_trajectory.txt.part": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Merged_Trajectory/merged_trajectory.txt.part", "exists": false, "size_bytes": 0}, "raw_vive_pose.txt.part": {"path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Merged_Trajectory/raw_vive_pose.txt.part", "exists": false, "size_bytes": 0}}}} diff --git a/stack the blocks/session_20261024_142045_00046/Metadata/ui_backend_metadata.json b/stack the blocks/session_20261024_142045_00046/Metadata/ui_backend_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..862628db94b0b3d2d4f829ef0ac60d3964e59f73 --- /dev/null +++ b/stack the blocks/session_20261024_142045_00046/Metadata/ui_backend_metadata.json @@ -0,0 +1,3618 @@ +{ + "project": "Tele-UMI", + "role": "ui_backend_joint_capture", + "session_id": "session_20261024_142045_00046", + "created_time_ns": 1792822845230238784, + "updated_time_ns": 1792823375359502967, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_names": [ + "left_hand", + "right_hand" + ], + "device_targets": { + "left_hand": { + "hand_name": "left_hand", + "pi_host": "192.168.31.140", + "pi_port": 8765, + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "requested_tracker_serial": "LHR-26B06EF4", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142028_00045", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142028_00045", + "--control-generation", + "45", + "--ready-token", + "18800c1509ca42bab7d3088c9f6347c5", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822844827489907, + "ended_time_ns": 1792822844854596060, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "capture_start_time_ns": 1792822832148594100, + "capture_stop_time_ns": 1792822838539427095, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "timing": { + "server_start_request_time_ns": 1792822828704628152, + "subprocess_popen_time_ns": 1792822828709557900, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822828746184833, + "validate_start_time_ns": 1792822829657660438, + "session_dir_create_start_time_ns": 1792822828746920953, + "session_dir_create_end_time_ns": 1792822828747836941, + "as5600_init_start_time_ns": 1792822828748866964, + "as5600_init_end_time_ns": 1792822828749755563, + "as5600_zero_start_time_ns": 1792822828751103619, + "as5600_zero_end_time_ns": 1792822829556408985, + "camera_init_start_time_ns": 1792822829557872206, + "camera_init_end_time_ns": 1792822829559812495, + "camera_start_start_time_ns": 1792822829562925361, + "camera_start_end_time_ns": 1792822829564777132, + "camera_first_frame_wait_start_time_ns": 1792822829566531775, + "camera_first_frame_wait_end_time_ns": 1792822829568108439, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822829569547234, + "armed_time_ns": 1792822829656738635, + "waiting_t0_time_ns": 1792822829659447784, + "recording_start_time_ns": 1792822832151725429, + "stop_request_time_ns": 1792822837722807827, + "finalized_time_ns": 1792822838548116683 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822828690451546, + "ended_time_ns": 1792822828690656025, + "duration_s": 0.000204479, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822828690455380, + "ok": true, + "ended_time_ns": 1792822828690463565, + "duration_s": 8.185e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822828690465231, + "ok": true, + "ended_time_ns": 1792822828690467731, + "duration_s": 2.5e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822828690468176, + "ok": true, + "ended_time_ns": 1792822828690471398, + "duration_s": 3.222e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822828690471768, + "ok": true, + "ended_time_ns": 1792822828690645988, + "duration_s": 0.00017422 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822828690646896, + "ok": true, + "ended_time_ns": 1792822828690650396, + "duration_s": 3.5e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822828690650933, + "ok": true, + "ended_time_ns": 1792822828690653340, + "duration_s": 2.407e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822828690653673, + "ok": true, + "ended_time_ns": 1792822828690655599, + "duration_s": 1.926e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 45, + "ready_token": "18800c1509ca42bab7d3088c9f6347c5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "arm_request_id": "17a1ce37b7b74c868b4803d77fe04195", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2184, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 45, + "last_bootstrap_time_ns": 1792822838552297849, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822844604208387, + "capture_count": 603, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.99499512022886, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 366, + "max_queue_depth": 366, + "read_count": 2015, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822844626989451, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822844631048137 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822844771954630, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8547, + "displayed_count": 8311, + "dropped_count": 235, + "decode_error_count": 0, + "last_receive_time_ns": 1792822844686660222, + "last_frame_time_ns": 1792822844690014751, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 45, + "last_bootstrap_time_ns": 1792822838552297849, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822844604208387, + "capture_count": 603, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.99499512022886, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 366, + "max_queue_depth": 366, + "read_count": 2015, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822844626989451, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822844631048137 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822844890874209, + "ended_time_ns": 1792822844901239900, + "duration_s": 0.002095009, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822844889304662, + "ended_time_ns": 1792822844889676175, + "duration_s": 0.000371513, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822844889309347, + "ok": true, + "ended_time_ns": 1792822844889320106, + "duration_s": 1.0759e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822844889321143, + "ok": true, + "ended_time_ns": 1792822844889324458, + "duration_s": 3.315e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822844889324865, + "ok": true, + "ended_time_ns": 1792822844889327865, + "duration_s": 3e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822844889328180, + "ok": true, + "ended_time_ns": 1792822844889658009, + "duration_s": 0.000329829 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822844889659749, + "ok": true, + "ended_time_ns": 1792822844889664601, + "duration_s": 4.852e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822844889665416, + "ok": true, + "ended_time_ns": 1792822844889670638, + 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"persistent_pi_worker_runtime", + "ended_time_ns": 1792822844891124100, + "duration_s": 1.4889e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822844891129544, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822844891287024, + "duration_s": 0.00015748 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822844901266739, + "ended_time_ns": 1792822844997432239, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142028_00045", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + 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"ended_time_ns": 1792822828698291381, + "duration_s": 3.945e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822828698292066, + "ok": true, + "ended_time_ns": 1792822828698294862, + "duration_s": 2.796e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822828698295214, + "ok": true, + "ended_time_ns": 1792822828698296881, + "duration_s": 1.667e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 45, + "ready_token": "18054e134c594e1583ab867dee49615d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "arm_request_id": "17a1ce37b7b74c868b4803d77fe04195", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3012, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 45, + "last_bootstrap_time_ns": 1792822839356664539, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822844925269960, + "capture_count": 616, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.0119628876578, + "gripper_gap_mm": 84.78926736802187, + "status_ok": true, + "queue_size": 600, + "queue_depth": 383, + "max_queue_depth": 383, + "read_count": 383, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822844921110441, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822844937174317 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822844433481892, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8064, + "displayed_count": 6272, + "dropped_count": 1790, + "decode_error_count": 0, + "last_receive_time_ns": 1792822844348746072, + "last_frame_time_ns": 1792822844329259709, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 45, + "last_bootstrap_time_ns": 1792822839356664539, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822844925269960, + "capture_count": 616, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.0119628876578, + "gripper_gap_mm": 84.78926736802187, + "status_ok": true, + "queue_size": 600, + "queue_depth": 383, + "max_queue_depth": 383, + "read_count": 383, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822844921110441, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822844937174317 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822845033166658, + "ended_time_ns": 1792822845047616686, + "duration_s": 0.001143841, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822845037495813, + "ended_time_ns": 1792822845037700830, + "duration_s": 0.000205017, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822845037499072, + "ok": true, + "ended_time_ns": 1792822845037506794, + "duration_s": 7.722e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822845037507794, + "ok": true, + "ended_time_ns": 1792822845037510757, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822845037511165, + "ok": true, + "ended_time_ns": 1792822845037514350, + "duration_s": 3.185e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822845037514720, + "ok": true, + "ended_time_ns": 1792822845037691385, + "duration_s": 0.000176665 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822845037692330, + "ok": true, + "ended_time_ns": 1792822845037695311, + "duration_s": 2.981e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822845037695811, + "ok": true, + "ended_time_ns": 1792822845037698441, + "duration_s": 2.63e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822845037698830, + "ok": true, + "ended_time_ns": 1792822845037700367, + "duration_s": 1.537e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822845038411620, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822844925269960, + "frame_age_s": 0.113168937, + "heartbeat_age_s": 0.101248673, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822845038443008, + "duration_s": 3.1388e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822845038444675, + "status_ok": true, + "gap_mm": 84.78926736802187, + "reference_angle_deg": 281.0119628876578, + "sample_observed_time_ns": 1792822844921110441, + "sample_age_s": 0.117341086, + "heartbeat_age_s": 0.101273025, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822845038454804, + "duration_s": 1.0129e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822845038459249, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822845038558692, + "duration_s": 9.9443e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822845047647822, + "ended_time_ns": 1792822845142193472, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823109805570333, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823105899889891, + "ended_time_ns": 1792823105915036619, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823105915207516, + "ended_time_ns": 1792823105965186484, + "transferred_bytes": 13698, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,698 bytes\nTotal transferred file size: 13,698 bytes\nLiteral data: 13,698 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,834\n\nsent 46 bytes received 13,834 bytes 27,760.00 bytes/sec\ntotal size is 13,698 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823105965750670, + "ended_time_ns": 1792823109803542211, + "transferred_bytes": 8882005, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,882,005 bytes\nTotal transferred file size: 8,882,005 bytes\nLiteral data: 8,882,005 bytes\nMatched data: 0 bytes\nFile list size: 228\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,884,587\n\nsent 168 bytes received 8,884,587 bytes 1,974,390.00 bytes/sec\ntotal size is 8,882,005 speedup is 1.00" + } + ], + "transferred_bytes": 8895703, + "copied_local_bytes": 9365557, + "started_time_ns": 1792823105899272425, + "ended_time_ns": 1792823109804230201 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823105900784363, + "ended_time_ns": 1792823105918286503, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823105918452163, + "ended_time_ns": 1792823105963560842, + "transferred_bytes": 13711, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,711 bytes\nTotal transferred file size: 13,711 bytes\nLiteral data: 13,711 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,847\n\nsent 46 bytes received 13,847 bytes 27,786.00 bytes/sec\ntotal size is 13,711 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823105964068461, + "ended_time_ns": 1792823106500594490, + "transferred_bytes": 8394861, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,394,861 bytes\nTotal transferred file size: 8,394,861 bytes\nLiteral data: 8,394,861 bytes\nMatched data: 0 bytes\nFile list size: 218\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,397,309\n\nsent 168 bytes received 8,397,309 bytes 5,598,318.00 bytes/sec\ntotal size is 8,394,861 speedup is 1.00" + } + ], + "transferred_bytes": 8408572, + "copied_local_bytes": 8861718, + "started_time_ns": 1792823105899530514, + "ended_time_ns": 1792823106501175102 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_142045_00046", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823375358468436, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823374994245671, + "ended_time_ns": 1792823375358194608, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823374994245671, + "ended_time_ns": 1792823375174700251, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142045_00046", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142045_00046_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142045_00046 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142045_00046_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142045_00046_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142045_00046_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142045_00046\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822848758262446\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822848758262446，vive_T0=1792822848758262446，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822855267735943，vive_Tstop=1792822855267735943，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.009799s，first=1792822848768061346，T0=1792822848758262446，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004803s，last=1792822855262933101，Tstop=1792822855267735943，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1300\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00394911569737 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00394911569737 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1300，metadata 1300\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00395338488758 Hz，最低 150.0 Hz，时长 6.494871616363525 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00395338488758 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005770683288574219s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994016866..1.0000000005588925，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0011550397101628177m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.38038984380656354deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=260 duration=6.5s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=260，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 260，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=259，rows=260，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=260，monotonic违规=0，估算频率=40.01439599315107Hz，最大间隔=0.034565702s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 260，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.01439886162416 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.01439886162416 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.034564128s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 391，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 36.0844..98.2726\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 391，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.999988304617645 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999988304617645 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021207455s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=391，bad_rows=0，monotonic违规=0，估算频率=59.999988304617666Hz，最大间隔=0.021208752s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 260，metadata 260\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 391，metadata 391\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 260，timestamps 260，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=260，timestamps=260，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.027s，video=6.5s，timestamps=6.472670023s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.027s，camera=6.472670023s，clamp=6.500001267000002s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822848758262446，pi_T0=1792822848758262446，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822855267735943，pi_Tstop=1792822855267735943，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.017341s，first=1792822848775603714，T0=1792822848758262446，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.002024s，first=1792822848760286346，T0=1792822848758262446，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.019462s，last=1792822855248273737，Tstop=1792822855267735943，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.007448s，last=1792822855260287613，Tstop=1792822855267735943，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.022202s，vive=6.494871755s，camera=6.472670023s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.005130s，vive=6.494871755s，clamp=6.500001267000002s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.007542s，vive_first=1792822848768061346，camera_first=1792822848775603714，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.007775s，vive_first=1792822848768061346，clamp_first=1792822848760286346，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.014659s，vive_last=1792822855262933101，camera_last=1792822855248273737，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.002645s，vive_last=1792822855262933101，clamp_last=1792822855260287613，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142045_00046_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823375175023396, + "ended_time_ns": 1792823375358194608, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142045_00046", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142045_00046_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142045_00046 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142045_00046_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142045_00046_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142045_00046_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142045_00046\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822848758262446\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822848758262446，vive_T0=1792822848758262446，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822855267735943，vive_Tstop=1792822855267735943，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.009799s，first=1792822848768061346，T0=1792822848758262446，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004803s，last=1792822855262933101，Tstop=1792822855267735943，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1300\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00394911569737 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00394911569737 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1300，metadata 1300\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00395338488758 Hz，最低 150.0 Hz，时长 6.494871616363525 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00395338488758 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005770683288574219s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994674799..1.0000000005583265，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0030477080548026564m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.34930133435142613deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=261 duration=6.525s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=261，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 261，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=260，rows=261，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=261，monotonic违规=0，估算频率=40.051011290938796Hz，最大间隔=0.030566839s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 261，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.05099700843114 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.05099700843114 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.030566542s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 390，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.8121..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 390，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.00012869641994 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00012869641994 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019597918s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=390，bad_rows=0，monotonic违规=0，估算频率=60.000147538666134Hz，最大间隔=0.01959777s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 261，metadata 261\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 390，metadata 390\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 261，timestamps 261，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=261，timestamps=261，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.033s，video=6.525s，timestamps=6.491723538s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.008s，camera=6.491723538s，clamp=6.483319427000007s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822848758262446，pi_T0=1792822848758262446，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822855267735943，pi_Tstop=1792822855267735943，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.017604s，first=1792822848775866856，T0=1792822848758262446，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.012863s，first=1792822848771125121，T0=1792822848758262446，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.000146s，last=1792822855267590394，Tstop=1792822855267735943，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.013291s，last=1792822855254444548，Tstop=1792822855267735943，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.003148s，vive=6.494871755s，camera=6.491723538s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.011552s，vive=6.494871755s，clamp=6.483319427000007s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.007806s，vive_first=1792822848768061346，camera_first=1792822848775866856，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.003064s，vive_first=1792822848768061346，clamp_first=1792822848771125121，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.004657s，vive_last=1792822855262933101，camera_last=1792822855267590394，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.008489s，vive_last=1792822855262933101，clamp_last=1792822855254444548，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142045_00046_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142045_00046_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142045_00046\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822848758262446\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822848758262446，vive_T0=1792822848758262446，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822855267735943，vive_Tstop=1792822855267735943，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.009799s，first=1792822848768061346，T0=1792822848758262446，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004803s，last=1792822855262933101，Tstop=1792822855267735943，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1300\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00394911569737 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00394911569737 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1300，metadata 1300\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00395338488758 Hz，最低 150.0 Hz，时长 6.494871616363525 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00395338488758 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005770683288574219s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994016866..1.0000000005588925，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0011550397101628177m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.38038984380656354deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=260 duration=6.5s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=260，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 260，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=259，rows=260，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=260，monotonic违规=0，估算频率=40.01439599315107Hz，最大间隔=0.034565702s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 260，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.01439886162416 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.01439886162416 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.034564128s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 391，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 36.0844..98.2726\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 391，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.999988304617645 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999988304617645 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021207455s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=391，bad_rows=0，monotonic违规=0，估算频率=59.999988304617666Hz，最大间隔=0.021208752s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 260，metadata 260\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 391，metadata 391\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 260，timestamps 260，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=260，timestamps=260，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.027s，video=6.5s，timestamps=6.472670023s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.027s，camera=6.472670023s，clamp=6.500001267000002s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822848758262446，pi_T0=1792822848758262446，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822855267735943，pi_Tstop=1792822855267735943，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.017341s，first=1792822848775603714，T0=1792822848758262446，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.002024s，first=1792822848760286346，T0=1792822848758262446，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.019462s，last=1792822855248273737，Tstop=1792822855267735943，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.007448s，last=1792822855260287613，Tstop=1792822855267735943，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.022202s，vive=6.494871755s，camera=6.472670023s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.005130s，vive=6.494871755s，clamp=6.500001267000002s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.007542s，vive_first=1792822848768061346，camera_first=1792822848775603714，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.007775s，vive_first=1792822848768061346，clamp_first=1792822848760286346，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.014659s，vive_last=1792822855262933101，camera_last=1792822855248273737，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.002645s，vive_last=1792822855262933101，clamp_last=1792822855260287613，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142045_00046_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142045_00046\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822848758262446\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822848758262446，vive_T0=1792822848758262446，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822855267735943，vive_Tstop=1792822855267735943，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.009799s，first=1792822848768061346，T0=1792822848758262446，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004803s，last=1792822855262933101，Tstop=1792822855267735943，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1300\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00394911569737 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00394911569737 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1300，metadata 1300\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00395338488758 Hz，最低 150.0 Hz，时长 6.494871616363525 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00395338488758 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005770683288574219s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994674799..1.0000000005583265，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0030477080548026564m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.34930133435142613deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=261 duration=6.525s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=261，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 261，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=260，rows=261，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=261，monotonic违规=0，估算频率=40.051011290938796Hz，最大间隔=0.030566839s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 261，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.05099700843114 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.05099700843114 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.030566542s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 390，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.8121..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 390，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.00012869641994 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00012869641994 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019597918s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=390，bad_rows=0，monotonic违规=0，估算频率=60.000147538666134Hz，最大间隔=0.01959777s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 261，metadata 261\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 390，metadata 390\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 261，timestamps 261，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=261，timestamps=261，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.033s，video=6.525s，timestamps=6.491723538s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.008s，camera=6.491723538s，clamp=6.483319427000007s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822848758262446，pi_T0=1792822848758262446，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822855267735943，pi_Tstop=1792822855267735943，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.017604s，first=1792822848775866856，T0=1792822848758262446，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.012863s，first=1792822848771125121，T0=1792822848758262446，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.000146s，last=1792822855267590394，Tstop=1792822855267735943，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.013291s，last=1792822855254444548，Tstop=1792822855267735943，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.003148s，vive=6.494871755s，camera=6.491723538s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.011552s，vive=6.494871755s，clamp=6.483319427000007s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.007806s，vive_first=1792822848768061346，camera_first=1792822848775866856，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.003064s，vive_first=1792822848768061346，clamp_first=1792822848771125121，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.004657s，vive_last=1792822855262933101，camera_last=1792822855267590394，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.008489s，vive_last=1792822855262933101，clamp_last=1792822855254444548，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142045_00046_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142045_00046/control/stop_left_hand.flag b/stack the blocks/session_20261024_142045_00046/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..da625f418470f69a09b2ff9fbfe7eb341493ff87 --- /dev/null +++ b/stack the blocks/session_20261024_142045_00046/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822855267735943 \ No newline at end of file diff --git a/stack the blocks/session_20261024_142045_00046/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the 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1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "button_control": { + "enabled": true, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "_source": { + "path": "/home/zhang/TeleUMI/config/teleumi_config.json" + } + }, + "diagnostics": { + "stage": "idle", + "timing": { + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + 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+ "recording_start_time_ns": 1792822848762184950, + "stop_request_time_ns": 1792822854336109828, + "finalized_time_ns": 1792822855275791441 + }, + "last_error": null, + "capture_start_time_ns": 1792822848758262446, + "capture_stop_time_ns": 1792822855267735943 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "left_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822848758262446, + "capture_stop_time_ns": 1792822855267735943, + "effective_capture_stop_time_ns": 1792822855267735943, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_142045_00046", + "control_generation": 46, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822848758262446, + "capture_stop_time_ns": 1792822855267735943 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 105.64453125000003, + "reference_source": "max_open_init", + "zero_angle_deg": 105.64453125000003, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 5.87e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822848762169283, + "camera_frame_count": 260, + "camera_started_time_ns": 1792822846162219346, + "camera_stopped_time_ns": 1792822855269864058, + "camera_actual_fps": 28.54744648278063, + "camera_first_frame_time_ns": 1792822848775603714, + "camera_last_frame_time_ns": 1792822855248273737, + "camera_frame_timestamp_fps": 40.01439886162416, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822855248273737, + "capture_count": 364, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 391, + "clamp_first_sample_time_ns": 1792822848760286346, + "clamp_last_sample_time_ns": 1792822855260287613, + "clamp_actual_hz": 59.999988304617666, + "clamp_value_min": 36.08443116551281, + "clamp_value_max": 98.27255219366245, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 409, + "read_count": 2653, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1619 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142045_00046/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142045_00046/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..6b689f24ea4418dabfeff6bd24a8c27e9e2b9288 --- /dev/null +++ b/stack the blocks/session_20261024_142045_00046/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822845264876423, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_142045_00046", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + 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"max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142028_00045", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142028_00045", + "--control-generation", + "45", + "--ready-token", + "18800c1509ca42bab7d3088c9f6347c5", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822845265449613, + "ended_time_ns": 1792822845282838795, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "capture_start_time_ns": 1792822832148594100, + "capture_stop_time_ns": 1792822838539427095, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/left_hand", + "timing": { + "server_start_request_time_ns": 1792822828704628152, + "subprocess_popen_time_ns": 1792822828709557900, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822828746184833, + "validate_start_time_ns": 1792822829657660438, + "session_dir_create_start_time_ns": 1792822828746920953, + "session_dir_create_end_time_ns": 1792822828747836941, + "as5600_init_start_time_ns": 1792822828748866964, + "as5600_init_end_time_ns": 1792822828749755563, + "as5600_zero_start_time_ns": 1792822828751103619, + "as5600_zero_end_time_ns": 1792822829556408985, + "camera_init_start_time_ns": 1792822829557872206, + "camera_init_end_time_ns": 1792822829559812495, + "camera_start_start_time_ns": 1792822829562925361, + "camera_start_end_time_ns": 1792822829564777132, + "camera_first_frame_wait_start_time_ns": 1792822829566531775, + "camera_first_frame_wait_end_time_ns": 1792822829568108439, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822829569547234, + "armed_time_ns": 1792822829656738635, + "waiting_t0_time_ns": 1792822829659447784, + "recording_start_time_ns": 1792822832151725429, + "stop_request_time_ns": 1792822837722807827, + "finalized_time_ns": 1792822838548116683 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822844889194070, + "ended_time_ns": 1792822844891289079, + "duration_s": 0.002095009, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822844889304662, + "ended_time_ns": 1792822844889676175, + "duration_s": 0.000371513, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822844889309347, + "ok": true, + "ended_time_ns": 1792822844889320106, + "duration_s": 1.0759e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822844889321143, + "ok": true, + "ended_time_ns": 1792822844889324458, + "duration_s": 3.315e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822844889324865, + "ok": true, + "ended_time_ns": 1792822844889327865, + "duration_s": 3e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822844889328180, + "ok": true, + "ended_time_ns": 1792822844889658009, + "duration_s": 0.000329829 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822844889659749, + "ok": true, + "ended_time_ns": 1792822844889664601, + "duration_s": 4.852e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822844889665416, + "ok": true, + "ended_time_ns": 1792822844889670638, + "duration_s": 5.222e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822844889671434, + "ok": true, + "ended_time_ns": 1792822844889675379, + "duration_s": 3.945e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822844891057934, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822844604208387, + "frame_age_s": 0.286893065, + "heartbeat_age_s": 0.260031019, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822844891107008, + "duration_s": 4.9074e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822844891109211, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 102.99499512022886, + "sample_observed_time_ns": 1792822844626989451, + "sample_age_s": 0.264130149, + "heartbeat_age_s": 0.260064871, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822844891124100, + "duration_s": 1.4889e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822844891125600, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822844891128563, + "duration_s": 2.963e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822844891129544, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822844891287024, + "duration_s": 0.00015748 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 45, + "ready_token": "18800c1509ca42bab7d3088c9f6347c5", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "arm_request_id": "17a1ce37b7b74c868b4803d77fe04195", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2184, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 45, + "last_bootstrap_time_ns": 1792822838552297849, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822845129990904, + "capture_count": 624, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.99499512022886, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 396, + "max_queue_depth": 396, + "read_count": 2045, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822845126958408, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822845136008305 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822844771954630, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8547, + "displayed_count": 8311, + "dropped_count": 235, + "decode_error_count": 0, + "last_receive_time_ns": 1792822844686660222, + "last_frame_time_ns": 1792822844690014751, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 45, + "last_bootstrap_time_ns": 1792822838552297849, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822845129990904, + "capture_count": 624, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.99499512022886, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 396, + "max_queue_depth": 396, + "read_count": 2045, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822845126958408, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822845136008305 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822845286096777, + "ended_time_ns": 1792822845294506982, + "duration_s": 0.000309441, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822845284788469, + "ok": true, + "ended_time_ns": 1792822845284800858, + "duration_s": 1.2389e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822845284804284, + "ok": true, + "ended_time_ns": 1792822845284808080, + "duration_s": 3.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822845284808506, + "ok": true, + "ended_time_ns": 1792822845284812876, + "duration_s": 4.37e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822845284813246, + "ok": true, + "ended_time_ns": 1792822845285074873, + "duration_s": 0.000261627 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822845285077150, + "ok": true, + "ended_time_ns": 1792822845285082354, + "duration_s": 5.204e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822845285083521, + "ok": true, + "ended_time_ns": 1792822845285086428, + "duration_s": 2.907e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822845285086891, + "ok": true, + "ended_time_ns": 1792822845285089113, + "duration_s": 2.222e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_142045_00046", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142045_00046", + "--control-generation", + "46", + "--ready-token", + "7bdb14f9f90641a083053b12d8afe3ba", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822845308047563, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/left_hand", + "timing": { + "server_start_request_time_ns": 1792822845302357584, + "subprocess_popen_time_ns": 1792822845308047563, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822845284780117, + "ended_time_ns": 1792822845285089558, + "duration_s": 0.000309441, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822845284788469, + "ok": true, + "ended_time_ns": 1792822845284800858, + "duration_s": 1.2389e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822845284804284, + "ok": true, + "ended_time_ns": 1792822845284808080, + "duration_s": 3.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822845284808506, + "ok": true, + "ended_time_ns": 1792822845284812876, + "duration_s": 4.37e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822845284813246, + "ok": true, + "ended_time_ns": 1792822845285074873, + "duration_s": 0.000261627 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822845285077150, + "ok": true, + "ended_time_ns": 1792822845285082354, + "duration_s": 5.204e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822845285083521, + "ok": true, + "ended_time_ns": 1792822845285086428, + "duration_s": 2.907e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822845285086891, + "ok": true, + "ended_time_ns": 1792822845285089113, + "duration_s": 2.222e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 46, + "ready_token": "7bdb14f9f90641a083053b12d8afe3ba", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2185, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 45, + "last_bootstrap_time_ns": 1792822838552297849, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822845129990904, + "capture_count": 624, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.99499512022886, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 396, + "max_queue_depth": 396, + "read_count": 2045, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822845126958408, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822845136008305 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822844771954630, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8547, + "displayed_count": 8311, + "dropped_count": 235, + "decode_error_count": 0, + "last_receive_time_ns": 1792822844686660222, + "last_frame_time_ns": 1792822844690014751, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 45, + "last_bootstrap_time_ns": 1792822838552297849, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822845129990904, + "capture_count": 624, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.99499512022886, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 396, + "max_queue_depth": 396, + "read_count": 2045, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822845126958408, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822845136008305 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822845298424171, + "ended_time_ns": 1792822845324656476 + }, + "pi_start_request_time_ns": 1792822845324664645, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822845328375676, + "capture_start_time_ns": 1792822848758262446, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822854336550129, + "capture_stop_time_ns": 1792822855267735943, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142045_00046", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142045_00046", + "--control-generation", + "46", + "--ready-token", + "7bdb14f9f90641a083053b12d8afe3ba", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822845308047563, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "capture_start_time_ns": 1792822848758262446, + "capture_stop_time_ns": 1792822855267735943, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/left_hand", + "timing": { + "server_start_request_time_ns": 1792822845302357584, + "subprocess_popen_time_ns": 1792822845308047563, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822845345615428, + "validate_start_time_ns": 1792822846295615088, + "session_dir_create_start_time_ns": 1792822845346311511, + "session_dir_create_end_time_ns": 1792822845347216592, + "as5600_init_start_time_ns": 1792822845348286540, + "as5600_init_end_time_ns": 1792822845349078252, + "as5600_zero_start_time_ns": 1792822845350770322, + "as5600_zero_end_time_ns": 1792822846156343481, + "camera_init_start_time_ns": 1792822846158136771, + "camera_init_end_time_ns": 1792822846162224142, + "camera_start_start_time_ns": 1792822846163101001, + "camera_start_end_time_ns": 1792822846164771256, + "camera_first_frame_wait_start_time_ns": 1792822846166465993, + "camera_first_frame_wait_end_time_ns": 1792822846168111767, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822846169780985, + "armed_time_ns": 1792822846280291572, + "waiting_t0_time_ns": 1792822846296783906, + "recording_start_time_ns": 1792822848762184950, + "stop_request_time_ns": 1792822854335565298, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822845284780117, + "ended_time_ns": 1792822845285089558, + "duration_s": 0.000309441, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822845284788469, + "ok": true, + "ended_time_ns": 1792822845284800858, + "duration_s": 1.2389e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822845284804284, + "ok": true, + "ended_time_ns": 1792822845284808080, + "duration_s": 3.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822845284808506, + "ok": true, + "ended_time_ns": 1792822845284812876, + "duration_s": 4.37e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822845284813246, + "ok": true, + "ended_time_ns": 1792822845285074873, + "duration_s": 0.000261627 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822845285077150, + "ok": true, + "ended_time_ns": 1792822845285082354, + "duration_s": 5.204e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822845285083521, + "ok": true, + "ended_time_ns": 1792822845285086428, + "duration_s": 2.907e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822845285086891, + "ok": true, + "ended_time_ns": 1792822845285089113, + "duration_s": 2.222e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 46, + "ready_token": "7bdb14f9f90641a083053b12d8afe3ba", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "arm_request_id": "10812690f88a43eaa9283f7cee32b7cd", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2185, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 45, + "last_bootstrap_time_ns": 1792822838552297849, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822845329986157, + "capture_count": 632, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 102.99499512022886, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 408, + "max_queue_depth": 408, + "read_count": 2057, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822845326973957, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822845342108327 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822854337417726, + "ended_time_ns": 1792822854351866963, + "capture_stop_time_ns": 1792822855267735943, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_142045_00046", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 141332 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 141700 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141694 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 141930 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 141700 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129783 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142045_00046", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142045_00046", + "--control-generation", + "46", + "--ready-token", + "7bdb14f9f90641a083053b12d8afe3ba", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822856292314675, + "ended_time_ns": 1792822856305252921, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "capture_start_time_ns": 1792822848758262446, + "capture_stop_time_ns": 1792822855267735943, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/left_hand", + "timing": { + "server_start_request_time_ns": 1792822845302357584, + "subprocess_popen_time_ns": 1792822845308047563, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822845345615428, + "validate_start_time_ns": 1792822846295615088, + "session_dir_create_start_time_ns": 1792822845346311511, + "session_dir_create_end_time_ns": 1792822845347216592, + "as5600_init_start_time_ns": 1792822845348286540, + "as5600_init_end_time_ns": 1792822845349078252, + "as5600_zero_start_time_ns": 1792822845350770322, + "as5600_zero_end_time_ns": 1792822846156343481, + "camera_init_start_time_ns": 1792822846158136771, + "camera_init_end_time_ns": 1792822846162224142, + "camera_start_start_time_ns": 1792822846163101001, + "camera_start_end_time_ns": 1792822846164771256, + "camera_first_frame_wait_start_time_ns": 1792822846166465993, + "camera_first_frame_wait_end_time_ns": 1792822846168111767, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822846169780985, + "armed_time_ns": 1792822846280291572, + "waiting_t0_time_ns": 1792822846296783906, + "recording_start_time_ns": 1792822848762184950, + "stop_request_time_ns": 1792822854336109828, + "finalized_time_ns": 1792822855275791441 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822845284780117, + "ended_time_ns": 1792822845285089558, + "duration_s": 0.000309441, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822845284788469, + "ok": true, + "ended_time_ns": 1792822845284800858, + "duration_s": 1.2389e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822845284804284, + "ok": true, + "ended_time_ns": 1792822845284808080, + "duration_s": 3.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822845284808506, + "ok": true, + "ended_time_ns": 1792822845284812876, + "duration_s": 4.37e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822845284813246, + "ok": true, + "ended_time_ns": 1792822845285074873, + "duration_s": 0.000261627 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822845285077150, + "ok": true, + "ended_time_ns": 1792822845285082354, + "duration_s": 5.204e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822845285083521, + "ok": true, + "ended_time_ns": 1792822845285086428, + "duration_s": 2.907e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822845285086891, + "ok": true, + "ended_time_ns": 1792822845285089113, + "duration_s": 2.222e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 46, + "ready_token": "7bdb14f9f90641a083053b12d8afe3ba", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "arm_request_id": "10812690f88a43eaa9283f7cee32b7cd", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2185, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855280060865, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822855770898926, + "capture_count": 385, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 77.65834682306561, + "status_ok": true, + "queue_size": 600, + "queue_depth": 31, + "max_queue_depth": 409, + "read_count": 2684, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822855776952197, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822855788506819 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822855336531753, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8640, + "displayed_count": 8398, + "dropped_count": 241, + "decode_error_count": 0, + "last_receive_time_ns": 1792822855333383111, + "last_frame_time_ns": 1792822855336299164, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855280060865, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822855770898926, + "capture_count": 385, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 77.65834682306561, + "status_ok": true, + "queue_size": 600, + "queue_depth": 31, + "max_queue_depth": 409, + "read_count": 2684, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822855776952197, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822855788506819 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792822856356479137, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792822856356477381 + } + }, + "updated_time_ns": 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和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 280.8966064459863, + "reference_source": "max_open_init", + "zero_angle_deg": 280.8966064459863, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.074e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822848761422466, + "camera_frame_count": 261, + "camera_started_time_ns": 1792822846112981556, + "camera_stopped_time_ns": 1792822855279096996, + "camera_actual_fps": 28.47443954949797, + "camera_first_frame_time_ns": 1792822848775866856, + "camera_last_frame_time_ns": 1792822855267590394, + "camera_frame_timestamp_fps": 40.05099700843114, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822855267590394, + "capture_count": 367, + "capture_error_count": 0, + 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"main_loop_iterations": 1619 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..91edb30880f8c26a6e5c308bec55c25ee72e98d3 --- /dev/null +++ b/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822845251619148, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_142045_00046", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142028_00045", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142028_00045", + "--control-generation", + "45", + "--ready-token", + "18054e134c594e1583ab867dee49615d", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822845252147387, + "ended_time_ns": 1792822845264904365, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.diagnostics.json", + "capture_start_time_ns": 1792822832148594100, + "capture_stop_time_ns": 1792822838539427095, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142028_00045/right_hand", + "timing": { + "server_start_request_time_ns": 1792822828711682187, + "subprocess_popen_time_ns": 1792822828716621162, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822828731100348, + "validate_start_time_ns": 1792822829672810874, + 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"warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822845037416351, + "ended_time_ns": 1792822845038560192, + "duration_s": 0.001143841, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822845037495813, + "ended_time_ns": 1792822845037700830, + "duration_s": 0.000205017, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822845037499072, + "ok": true, + "ended_time_ns": 1792822845037506794, + "duration_s": 7.722e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822845037507794, + "ok": true, + "ended_time_ns": 1792822845037510757, + "duration_s": 2.963e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822845037511165, + "ok": true, + "ended_time_ns": 1792822845037514350, + "duration_s": 3.185e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822845037514720, + "ok": true, + "ended_time_ns": 1792822845037691385, + "duration_s": 0.000176665 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822845037692330, + "ok": true, + "ended_time_ns": 1792822845037695311, + "duration_s": 2.981e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822845037695811, + "ok": true, + "ended_time_ns": 1792822845037698441, + "duration_s": 2.63e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822845037698830, + "ok": true, + "ended_time_ns": 1792822845037700367, + "duration_s": 1.537e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822845038411620, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822844925269960, + "frame_age_s": 0.113168937, + "heartbeat_age_s": 0.101248673, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822845038443008, + "duration_s": 3.1388e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822845038444675, + "status_ok": true, + "gap_mm": 84.78926736802187, + "reference_angle_deg": 281.0119628876578, + "sample_observed_time_ns": 1792822844921110441, + "sample_age_s": 0.117341086, + "heartbeat_age_s": 0.101273025, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822845038454804, + "duration_s": 1.0129e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822845038455656, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822845038457971, + "duration_s": 2.315e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822845038459249, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822845038558692, + "duration_s": 9.9443e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 45, + "ready_token": "18054e134c594e1583ab867dee49615d", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142028_00045.ready.json", + "arm_request_id": "17a1ce37b7b74c868b4803d77fe04195", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3012, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 45, + "last_bootstrap_time_ns": 1792822839356664539, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822844925269960, + "capture_count": 616, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.0119628876578, + "gripper_gap_mm": 84.78926736802187, + "status_ok": true, + "queue_size": 600, + "queue_depth": 383, + "max_queue_depth": 383, + "read_count": 383, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822844921110441, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822844937174317 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822844433481892, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8064, + "displayed_count": 6272, + "dropped_count": 1790, + "decode_error_count": 0, + "last_receive_time_ns": 1792822844348746072, + "last_frame_time_ns": 1792822844329259709, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 45, + "last_bootstrap_time_ns": 1792822839356664539, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822844925269960, + "capture_count": 616, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.0119628876578, + "gripper_gap_mm": 84.78926736802187, + "status_ok": true, + "queue_size": 600, + "queue_depth": 383, + "max_queue_depth": 383, + "read_count": 383, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822844921110441, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822844937174317 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822845268043955, + "ended_time_ns": 1792822845278397325, + "duration_s": 0.00027985, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822845271172381, + "ok": true, + "ended_time_ns": 1792822845271183215, + "duration_s": 1.0834e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822845271185826, + "ok": true, + "ended_time_ns": 1792822845271190233, + "duration_s": 4.407e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822845271190678, + "ok": true, + "ended_time_ns": 1792822845271197140, + "duration_s": 6.462e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822845271197492, + "ok": true, + "ended_time_ns": 1792822845271434083, + "duration_s": 0.000236591 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822845271434916, + "ok": true, + "ended_time_ns": 1792822845271438323, + "duration_s": 3.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822845271438805, + "ok": true, + "ended_time_ns": 1792822845271441897, + "duration_s": 3.092e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822845271442231, + "ok": true, + "ended_time_ns": 1792822845271447064, + "duration_s": 4.833e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + 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"--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142045_00046", + "--control-generation", + "46", + "--ready-token", + "a7b7fc5d69c74ef6b216bd19434df50a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822845289080203, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/right_hand", + "timing": { + "server_start_request_time_ns": 1792822845284450893, + "subprocess_popen_time_ns": 1792822845289080203, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822845271167622, + "ended_time_ns": 1792822845271447472, + "duration_s": 0.00027985, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822845271172381, + "ok": true, + "ended_time_ns": 1792822845271183215, + "duration_s": 1.0834e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822845271185826, + "ok": true, + "ended_time_ns": 1792822845271190233, + "duration_s": 4.407e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822845271190678, + "ok": true, + "ended_time_ns": 1792822845271197140, + "duration_s": 6.462e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822845271197492, + "ok": true, + "ended_time_ns": 1792822845271434083, + "duration_s": 0.000236591 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822845271434916, + "ok": true, + "ended_time_ns": 1792822845271438323, + "duration_s": 3.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822845271438805, + "ok": true, + "ended_time_ns": 1792822845271441897, + "duration_s": 3.092e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822845271442231, + "ok": true, + "ended_time_ns": 1792822845271447064, + "duration_s": 4.833e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 46, + "ready_token": "a7b7fc5d69c74ef6b216bd19434df50a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3013, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142028_00045", + "generation": 45, + "session_count": 45, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 45, + "last_bootstrap_time_ns": 1792822839356664539, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822844925269960, + "capture_count": 616, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.0119628876578, + "gripper_gap_mm": 84.78926736802187, + "status_ok": true, + "queue_size": 600, + "queue_depth": 383, + "max_queue_depth": 383, + "read_count": 383, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822844921110441, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822844937174317 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + 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1792822844925269960, + "capture_count": 616, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.0119628876578, + "gripper_gap_mm": 84.78926736802187, + "status_ok": true, + "queue_size": 600, + "queue_depth": 383, + "max_queue_depth": 383, + "read_count": 383, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822844921110441, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822844937174317 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822845282140657, + "ended_time_ns": 1792822845301733092 + }, + "pi_start_request_time_ns": 1792822845301741906, + "capture_start_time_ns": 1792822848758262446, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822854453429587, + "capture_stop_time_ns": 1792822855267735943, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142045_00046", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142045_00046", + "--control-generation", + "46", + "--ready-token", + "a7b7fc5d69c74ef6b216bd19434df50a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822845289080203, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "capture_start_time_ns": 1792822848758262446, + "capture_stop_time_ns": 1792822855267735943, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/right_hand", + "timing": { + "server_start_request_time_ns": 1792822845284450893, + "subprocess_popen_time_ns": 1792822845289080203, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822845298400639, + "validate_start_time_ns": 1792822846292235553, + "session_dir_create_start_time_ns": 1792822845299840867, + "session_dir_create_end_time_ns": 1792822845300812006, + "as5600_init_start_time_ns": 1792822845301954181, + "as5600_init_end_time_ns": 1792822845302904673, + "as5600_zero_start_time_ns": 1792822845304290605, + "as5600_zero_end_time_ns": 1792822846109028906, + "camera_init_start_time_ns": 1792822846110901834, + "camera_init_end_time_ns": 1792822846112985445, + "camera_start_start_time_ns": 1792822846114093490, + "camera_start_end_time_ns": 1792822846115734420, + "camera_first_frame_wait_start_time_ns": 1792822846117394406, + "camera_first_frame_wait_end_time_ns": 1792822846119010595, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822846120644025, + "armed_time_ns": 1792822846291226395, + "waiting_t0_time_ns": 1792822846294219221, + "recording_start_time_ns": 1792822848761432170, + "stop_request_time_ns": 1792822854455582399, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822845271167622, + "ended_time_ns": 1792822845271447472, + "duration_s": 0.00027985, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822845271172381, + "ok": true, + "ended_time_ns": 1792822845271183215, + "duration_s": 1.0834e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822845271185826, + "ok": true, + "ended_time_ns": 1792822845271190233, + "duration_s": 4.407e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822845271190678, + "ok": true, + "ended_time_ns": 1792822845271197140, + "duration_s": 6.462e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822845271197492, + "ok": true, + "ended_time_ns": 1792822845271434083, + "duration_s": 0.000236591 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822845271434916, + "ok": true, + "ended_time_ns": 1792822845271438323, + "duration_s": 3.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822845271438805, + "ok": true, + "ended_time_ns": 1792822845271441897, + "duration_s": 3.092e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822845271442231, + "ok": true, + "ended_time_ns": 1792822845271447064, + "duration_s": 4.833e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 46, + "ready_token": "a7b7fc5d69c74ef6b216bd19434df50a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "arm_request_id": "10812690f88a43eaa9283f7cee32b7cd", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3013, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 45, + "last_bootstrap_time_ns": 1792822839356664539, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822845275564046, + "capture_count": 630, + "capture_error_count": 0, + "writer_count": 256, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 281.0119628876578, + "gripper_gap_mm": 84.78926736802187, + "status_ok": true, + "queue_size": 600, + "queue_depth": 405, + "max_queue_depth": 405, + "read_count": 405, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822845287782215, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822845292881670 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822854453767797, + "ended_time_ns": 1792822854466955118, + "capture_stop_time_ns": 1792822855267735943, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142045_00046", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142045_00046", + "--control-generation", + "46", + "--ready-token", + "a7b7fc5d69c74ef6b216bd19434df50a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822855482015027, + "ended_time_ns": 1792822855498447958, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "capture_start_time_ns": 1792822848758262446, + "capture_stop_time_ns": 1792822855267735943, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/right_hand", + "timing": { + "server_start_request_time_ns": 1792822845284450893, + "subprocess_popen_time_ns": 1792822845289080203, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822845298400639, + "validate_start_time_ns": 1792822846292235553, + "session_dir_create_start_time_ns": 1792822845299840867, + "session_dir_create_end_time_ns": 1792822845300812006, + "as5600_init_start_time_ns": 1792822845301954181, + "as5600_init_end_time_ns": 1792822845302904673, + "as5600_zero_start_time_ns": 1792822845304290605, + "as5600_zero_end_time_ns": 1792822846109028906, + "camera_init_start_time_ns": 1792822846110901834, + "camera_init_end_time_ns": 1792822846112985445, + "camera_start_start_time_ns": 1792822846114093490, + "camera_start_end_time_ns": 1792822846115734420, + "camera_first_frame_wait_start_time_ns": 1792822846117394406, + "camera_first_frame_wait_end_time_ns": 1792822846119010595, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822846120644025, + "armed_time_ns": 1792822846291226395, + "waiting_t0_time_ns": 1792822846294219221, + "recording_start_time_ns": 1792822848761432170, + "stop_request_time_ns": 1792822854456499335, + "finalized_time_ns": 1792822855280226782 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822845271167622, + "ended_time_ns": 1792822845271447472, + "duration_s": 0.00027985, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822845271172381, + "ok": true, + "ended_time_ns": 1792822845271183215, + "duration_s": 1.0834e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822845271185826, + "ok": true, + "ended_time_ns": 1792822845271190233, + "duration_s": 4.407e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822845271190678, + "ok": true, + "ended_time_ns": 1792822845271197140, + "duration_s": 6.462e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822845271197492, + "ok": true, + "ended_time_ns": 1792822845271434083, + "duration_s": 0.000236591 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822845271434916, + "ok": true, + "ended_time_ns": 1792822845271438323, + "duration_s": 3.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822845271438805, + "ok": true, + "ended_time_ns": 1792822845271441897, + "duration_s": 3.092e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822845271442231, + "ok": true, + "ended_time_ns": 1792822845271447064, + "duration_s": 4.833e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 46, + "ready_token": "a7b7fc5d69c74ef6b216bd19434df50a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "arm_request_id": "10812690f88a43eaa9283f7cee32b7cd", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3013, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855282055191, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822855267590394, + "capture_count": 367, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.8966064459863, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 405, + "read_count": 1004, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822855271110770, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822855286201099 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + 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"dropped_count": 1818, + "decode_error_count": 0, + "last_receive_time_ns": 1792822854320480990, + "last_frame_time_ns": 1792822854225414299, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855282055191, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822855267590394, + "capture_count": 367, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.8966064459863, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 405, + "read_count": 1004, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822855271110770, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822855286201099 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "final_ok": true + }, + "updated_time_ns": 1792822855501473345 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..7d6321daabd407370820cca6ae7689f13fa0168f --- /dev/null +++ b/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822845331236069, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142045_00046/right_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "right_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-F47559F6", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + 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"started_time_ns": 1792822845285083521, + "ok": true, + "ended_time_ns": 1792822845285086428, + "duration_s": 2.907e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822845285086891, + "ok": true, + "ended_time_ns": 1792822845285089113, + "duration_s": 2.222e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 46, + "ready_token": "7bdb14f9f90641a083053b12d8afe3ba", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "arm_request_id": "10812690f88a43eaa9283f7cee32b7cd", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2185, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855280060865, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822858819274440, + "capture_count": 507, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 79.45297315520511, + "status_ok": true, + "queue_size": 600, + "queue_depth": 214, + "max_queue_depth": 409, + "read_count": 2867, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822858826952337, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822858829521858 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822858646527098, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8668, + "displayed_count": 8426, + "dropped_count": 241, + "decode_error_count": 0, + "last_receive_time_ns": 1792822858553323019, + "last_frame_time_ns": 1792822858556290164, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855280060865, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822858819274440, + "capture_count": 507, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 79.45297315520511, + "status_ok": true, + "queue_size": 600, + "queue_depth": 214, + "max_queue_depth": 409, + "read_count": 2867, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822858826952337, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822858829521858 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822859217619588, + "ended_time_ns": 1792822859228221701, + "duration_s": 0.001289797, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822859216193172, + "ended_time_ns": 1792822859216476113, + "duration_s": 0.000282941, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822859216198135, + "ok": true, + "ended_time_ns": 1792822859216209209, + "duration_s": 1.1074e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822859216210246, + "ok": true, + "ended_time_ns": 1792822859216213802, + "duration_s": 3.556e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822859216214191, + "ok": true, + "ended_time_ns": 1792822859216218117, + "duration_s": 3.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822859216218450, + "ok": true, + "ended_time_ns": 1792822859216463947, + "duration_s": 0.000245497 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822859216464965, + "ok": true, + "ended_time_ns": 1792822859216469169, + "duration_s": 4.204e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822859216469891, + "ok": true, + "ended_time_ns": 1792822859216473095, + "duration_s": 3.204e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822859216473446, + "ok": true, + "ended_time_ns": 1792822859216475724, + "duration_s": 2.278e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822859217219214, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822858819274440, + "frame_age_s": 0.397975385, + "heartbeat_age_s": 0.387709893, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822859217255232, + "duration_s": 3.6018e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822859217257473, + "status_ok": true, + "gap_mm": 79.45297315520511, + "reference_angle_deg": 105.64453125000003, + "sample_observed_time_ns": 1792822858826952337, + "sample_age_s": 0.39031371, + "heartbeat_age_s": 0.387738856, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822859217269584, + "duration_s": 1.2111e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822859217274454, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822859217389749, + "duration_s": 0.000115295 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822859228233933, + "ended_time_ns": 1792822859337031211, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + 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"./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142045_00046", + "--control-generation", + "46", + "--ready-token", + "a7b7fc5d69c74ef6b216bd19434df50a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822859337047480, + "ended_time_ns": 1792822859352442062, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": 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"camera_first_frame_wait_end_time_ns": 1792822846119010595, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822846120644025, + "armed_time_ns": 1792822846291226395, + "waiting_t0_time_ns": 1792822846294219221, + "recording_start_time_ns": 1792822848761432170, + "stop_request_time_ns": 1792822854456499335, + "finalized_time_ns": 1792822855280226782 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822845271167622, + "ended_time_ns": 1792822845271447472, + "duration_s": 0.00027985, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822845271172381, + "ok": true, + "ended_time_ns": 1792822845271183215, + "duration_s": 1.0834e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822845271185826, + "ok": true, + "ended_time_ns": 1792822845271190233, + "duration_s": 4.407e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822845271190678, + "ok": true, + "ended_time_ns": 1792822845271197140, + "duration_s": 6.462e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822845271197492, + "ok": true, + "ended_time_ns": 1792822845271434083, + "duration_s": 0.000236591 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822845271434916, + "ok": true, + "ended_time_ns": 1792822845271438323, + "duration_s": 3.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822845271438805, + "ok": true, + "ended_time_ns": 1792822845271441897, + "duration_s": 3.092e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822845271442231, + "ok": true, + "ended_time_ns": 1792822845271447064, + "duration_s": 4.833e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 46, + "ready_token": "a7b7fc5d69c74ef6b216bd19434df50a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "arm_request_id": "10812690f88a43eaa9283f7cee32b7cd", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3013, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855282055191, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822858815375337, + "capture_count": 509, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.8966064459863, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 215, + "max_queue_depth": 405, + "read_count": 1218, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822858837792156, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822858842334190 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822858835358437, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8189, + "displayed_count": 6360, + "dropped_count": 1827, + "decode_error_count": 0, + "last_receive_time_ns": 1792822858828126798, + "last_frame_time_ns": 1792822858700025253, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855282055191, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822858815375337, + "capture_count": 509, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.8966064459863, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 215, + "max_queue_depth": 405, + "read_count": 1218, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822858837792156, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822858842334190 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822859382041371, + "ended_time_ns": 1792822859391841103, + "duration_s": 0.00178941, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822859384202516, + "ended_time_ns": 1792822859384425921, + "duration_s": 0.000223405, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822859384206812, + "ok": true, + "ended_time_ns": 1792822859384215552, + "duration_s": 8.74e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822859384216627, + "ok": true, + "ended_time_ns": 1792822859384220015, + "duration_s": 3.388e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822859384220478, + "ok": true, + "ended_time_ns": 1792822859384223793, + "duration_s": 3.315e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822859384224163, + "ok": true, + "ended_time_ns": 1792822859384415365, + "duration_s": 0.000191202 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822859384416384, + "ok": true, + "ended_time_ns": 1792822859384419773, + "duration_s": 3.389e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822859384420310, + "ok": true, + "ended_time_ns": 1792822859384423273, + "duration_s": 2.963e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822859384423625, + "ok": true, + "ended_time_ns": 1792822859384425421, + "duration_s": 1.796e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822859385626966, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822859341154602, + "frame_age_s": 0.044549974, + "heartbeat_age_s": 0.036784136, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822859385710687, + "duration_s": 8.3721e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822859385712984, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 280.8966064459863, + "sample_observed_time_ns": 1792822859337782614, + "sample_age_s": 0.047939721, + "heartbeat_age_s": 0.036823098, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822859385726502, + "duration_s": 1.3518e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822859385731557, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822859385906149, + "duration_s": 0.000174592 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822859391861602, + "ended_time_ns": 1792822859492367338, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823105884165934, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823102773185230, + "ended_time_ns": 1792823102788877775, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823102788941879, + "ended_time_ns": 1792823102837699730, + "transferred_bytes": 13674, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,674 bytes\nTotal transferred file size: 13,674 bytes\nLiteral data: 13,674 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,809\n\nsent 46 bytes received 13,809 bytes 27,710.00 bytes/sec\ntotal size is 13,674 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823102837964615, + "ended_time_ns": 1792823105882633944, + "transferred_bytes": 7458361, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 7,458,361 bytes\nTotal transferred file size: 7,458,361 bytes\nLiteral data: 7,458,361 bytes\nMatched data: 0 bytes\nFile list size: 224\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 7,460,595\n\nsent 168 bytes received 7,460,595 bytes 2,131,646.57 bytes/sec\ntotal size is 7,458,361 speedup is 1.00" + } + ], + "transferred_bytes": 7472035, + "copied_local_bytes": 7919068, + "started_time_ns": 1792823102772519218, + "ended_time_ns": 1792823105883215241 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823102773241773, + "ended_time_ns": 1792823102792965320, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823102793010553, + "ended_time_ns": 1792823102831950979, + "transferred_bytes": 13712, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,712 bytes\nTotal transferred file size: 13,712 bytes\nLiteral data: 13,712 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,847\n\nsent 46 bytes received 13,847 bytes 27,786.00 bytes/sec\ntotal size is 13,712 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823102832176071, + "ended_time_ns": 1792823103379027015, + "transferred_bytes": 8342550, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,342,550 bytes\nTotal transferred file size: 8,342,550 bytes\nLiteral data: 8,342,550 bytes\nMatched data: 0 bytes\nFile list size: 215\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,344,991\n\nsent 168 bytes received 8,344,991 bytes 5,563,439.33 bytes/sec\ntotal size is 8,342,550 speedup is 1.00" + } + ], + "transferred_bytes": 8356262, + "copied_local_bytes": 8787588, + "started_time_ns": 1792823102772761878, + "ended_time_ns": 1792823103379618875 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_142059_00047", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823375324968997, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823374942962169, + "ended_time_ns": 1792823375324554104, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823374942962169, + "ended_time_ns": 1792823375121799075, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142059_00047", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142059_00047_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142059_00047 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142059_00047_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142059_00047_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142059_00047_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142059_00047\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822863137119413\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822863137119413，vive_T0=1792822863137119413，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822869132484791，vive_Tstop=1792822869132484791，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008272s，first=1792822863145391384，T0=1792822863137119413，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002161s，last=1792822869130323346，Tstop=1792822869132484791，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1198\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00227364322376 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00227364322376 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1198，metadata 1198\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00227418456333 Hz，最低 150.0 Hz，时长 5.984931945800781 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00227418456333 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005429983139038086s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993783757..1.0000000005598157，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0023474996986344856m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.621395627439281deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=240 duration=6.0s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=240，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 240，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=239，rows=240，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=240，monotonic违规=0，估算频率=40.01622046613522Hz，最大间隔=0.033315404s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 240，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.016220714034915 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.016220714034915 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033315329s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 360，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 360，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00011125257399 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00011125257399 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020501446s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=360，bad_rows=0，monotonic违规=0，估算频率=60.00013111783528Hz，最大间隔=0.020501631s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 240，metadata 240\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 360，metadata 360\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 240，timestamps 240，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=240，timestamps=240，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.027s，video=6.0s，timestamps=5.972578012999998s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.011s，camera=5.972578012999998s，clamp=5.983322238999999s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822863137119413，pi_T0=1792822863137119413，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822869132484791，pi_Tstop=1792822869132484791，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.004644s，first=1792822863141763252，T0=1792822863137119413，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.006517s，first=1792822863143636763，T0=1792822863137119413，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.018144s，last=1792822869114341265，Tstop=1792822869132484791，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005526s，last=1792822869126959002，Tstop=1792822869132484791，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.012354s，vive=5.984931962s，camera=5.972578012999998s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001610s，vive=5.984931962s，clamp=5.983322238999999s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.003628s，vive_first=1792822863145391384，camera_first=1792822863141763252，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.001755s，vive_first=1792822863145391384，clamp_first=1792822863143636763，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.015982s，vive_last=1792822869130323346，camera_last=1792822869114341265，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.003364s，vive_last=1792822869130323346，clamp_last=1792822869126959002，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142059_00047_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823375122214938, + "ended_time_ns": 1792823375324554104, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142059_00047", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142059_00047_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142059_00047 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142059_00047_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142059_00047_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142059_00047_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142059_00047\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822863137119413\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822863137119413，vive_T0=1792822863137119413，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822869132484791，vive_Tstop=1792822869132484791，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008272s，first=1792822863145391384，T0=1792822863137119413，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002161s，last=1792822869130323346，Tstop=1792822869132484791，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1198\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00227364322376 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00227364322376 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1198，metadata 1198\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00227418456333 Hz，最低 150.0 Hz，时长 5.984931945800781 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00227418456333 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005429983139038086s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993831973..1.000000000585155，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0007693969656529719m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.27945009944984506deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=240 duration=6.0s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=240，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 240，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=239，rows=240，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=240，monotonic违规=0，估算频率=40.017983257874924Hz，最大间隔=0.03452536s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 240，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.01798251411037 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.01798251411037 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.034525286s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 360，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 44.7257..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 360，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.0002194236436 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.0002194236436 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.01971001s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=360，bad_rows=0，monotonic违规=0，估算频率=60.00022685433961Hz，最大间隔=0.019710325s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 240，metadata 240\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 360，metadata 360\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 240，timestamps 240，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=240，timestamps=240，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.028s，video=6.0s，timestamps=5.972315069000003s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.011s，camera=5.972315069000003s，clamp=5.983311452000007s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822863137119413，pi_T0=1792822863137119413，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822869132484791，pi_Tstop=1792822869132484791，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.000201s，first=1792822863137320668，T0=1792822863137119413，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.000678s，first=1792822863137797479，T0=1792822863137119413，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.022849s，last=1792822869109635737，Tstop=1792822869132484791，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.011376s，last=1792822869121108931，Tstop=1792822869132484791，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.012617s，vive=5.984931962s，camera=5.972315069000003s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.001621s，vive=5.984931962s，clamp=5.983311452000007s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.008071s，vive_first=1792822863145391384，camera_first=1792822863137320668，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.007594s，vive_first=1792822863145391384，clamp_first=1792822863137797479，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.020688s，vive_last=1792822869130323346，camera_last=1792822869109635737，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.009214s，vive_last=1792822869130323346，clamp_last=1792822869121108931，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142059_00047_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142059_00047_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142059_00047\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822863137119413\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822863137119413，vive_T0=1792822863137119413，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822869132484791，vive_Tstop=1792822869132484791，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008272s，first=1792822863145391384，T0=1792822863137119413，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002161s，last=1792822869130323346，Tstop=1792822869132484791，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1198\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00227364322376 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00227364322376 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1198，metadata 1198\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00227418456333 Hz，最低 150.0 Hz，时长 5.984931945800781 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00227418456333 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005429983139038086s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993783757..1.0000000005598157，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0023474996986344856m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.621395627439281deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=240 duration=6.0s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=240，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 240，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=239，rows=240，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=240，monotonic违规=0，估算频率=40.01622046613522Hz，最大间隔=0.033315404s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 240，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.016220714034915 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.016220714034915 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033315329s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 360，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 100.0..100.0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 360，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 60.00011125257399 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00011125257399 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020501446s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=360，bad_rows=0，monotonic违规=0，估算频率=60.00013111783528Hz，最大间隔=0.020501631s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 240，metadata 240\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 360，metadata 360\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 240，timestamps 240，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=240，timestamps=240，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.027s，video=6.0s，timestamps=5.972578012999998s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.011s，camera=5.972578012999998s，clamp=5.983322238999999s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822863137119413，pi_T0=1792822863137119413，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822869132484791，pi_Tstop=1792822869132484791，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.004644s，first=1792822863141763252，T0=1792822863137119413，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.006517s，first=1792822863143636763，T0=1792822863137119413，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.018144s，last=1792822869114341265，Tstop=1792822869132484791，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.005526s，last=1792822869126959002，Tstop=1792822869132484791，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.012354s，vive=5.984931962s，camera=5.972578012999998s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001610s，vive=5.984931962s，clamp=5.983322238999999s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.003628s，vive_first=1792822863145391384，camera_first=1792822863141763252，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.001755s，vive_first=1792822863145391384，clamp_first=1792822863143636763，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.015982s，vive_last=1792822869130323346，camera_last=1792822869114341265，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.003364s，vive_last=1792822869130323346，clamp_last=1792822869126959002，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142059_00047_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142059_00047\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822863137119413\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822863137119413，vive_T0=1792822863137119413，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822869132484791，vive_Tstop=1792822869132484791，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008272s，first=1792822863145391384，T0=1792822863137119413，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002161s，last=1792822869130323346，Tstop=1792822869132484791，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1198\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00227364322376 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00227364322376 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1198，metadata 1198\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00227418456333 Hz，最低 150.0 Hz，时长 5.984931945800781 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00227418456333 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005429983139038086s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993831973..1.000000000585155，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0007693969656529719m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.27945009944984506deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=240 duration=6.0s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=240，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 240，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=239，rows=240，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=240，monotonic违规=0，估算频率=40.017983257874924Hz，最大间隔=0.03452536s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 240，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.01798251411037 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.01798251411037 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.034525286s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 360，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 44.7257..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 360，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.0002194236436 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.0002194236436 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.01971001s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=360，bad_rows=0，monotonic违规=0，估算频率=60.00022685433961Hz，最大间隔=0.019710325s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 240，metadata 240\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 360，metadata 360\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 240，timestamps 240，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=240，timestamps=240，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.028s，video=6.0s，timestamps=5.972315069000003s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.011s，camera=5.972315069000003s，clamp=5.983311452000007s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822863137119413，pi_T0=1792822863137119413，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822869132484791，pi_Tstop=1792822869132484791，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.000201s，first=1792822863137320668，T0=1792822863137119413，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.000678s，first=1792822863137797479，T0=1792822863137119413，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.022849s，last=1792822869109635737，Tstop=1792822869132484791，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.011376s，last=1792822869121108931，Tstop=1792822869132484791，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.012617s，vive=5.984931962s，camera=5.972315069000003s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.001621s，vive=5.984931962s，clamp=5.983311452000007s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.008071s，vive_first=1792822863145391384，camera_first=1792822863137320668，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.007594s，vive_first=1792822863145391384，clamp_first=1792822863137797479，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.020688s，vive_last=1792822869130323346，camera_last=1792822869109635737，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.009214s，vive_last=1792822869130323346，clamp_last=1792822869121108931，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142059_00047_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142059_00047/control/stop_left_hand.flag b/stack the blocks/session_20261024_142059_00047/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..c44926e89f627598c211d78bab4d1f1448b0474e --- /dev/null +++ b/stack the blocks/session_20261024_142059_00047/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822869132484791 \ No newline at end of file diff --git a/stack the blocks/session_20261024_142059_00047/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the blocks/session_20261024_142059_00047/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 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blocks/session_20261024_142059_00047/left_hand/Metadata/metadata.json @@ -0,0 +1,343 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "raspberry_pi_capture", + "created_time_ns": 1792822869140172473, + "platform": { + "system": "Linux", + "release": "6.18.34+rpt-rpi-2712", + "machine": "aarch64" + }, + "paths": { + "run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand", + "rgb_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand/RGB_Images", + "clamp_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Clamp_Data", + "metadata_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Metadata", + "video_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand/RGB_Images/video.mp4", + "camera_timestamps_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand/RGB_Images/timestamps.csv", + "clamp_data_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Clamp_Data/clamp_data_tum.txt", + "metadata_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Metadata/metadata.json", + "clamp_timebase_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Clamp_Data/clamp_timebase.csv" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.157.33", + "left_pi_host": "192.168.157.33", + "right_pi_host": "", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/TeleUMI", + "pi_data_root": "/home/zhang/TeleUMI/datasets" + }, + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "pi_standby": { + "enabled": true, 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"hand_name": "left_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822863137119413, 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"camera_encoder": "opencv_video_writer", + "clamp_sample_count": 360, + "clamp_first_sample_time_ns": 1792822863143636763, + "clamp_last_sample_time_ns": 1792822869126959002, + "clamp_actual_hz": 60.00011125257398, + "clamp_value_min": 100.0, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 409, + "read_count": 3485, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1524 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142059_00047/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142059_00047/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..00f1dae9325f6055d197af86c438b667b22e079e --- /dev/null +++ b/stack the blocks/session_20261024_142059_00047/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822859625057533, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_142059_00047", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142045_00046", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142045_00046", + "--control-generation", + "46", + "--ready-token", + "7bdb14f9f90641a083053b12d8afe3ba", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822859625607435, + "ended_time_ns": 1792822859645527136, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "capture_start_time_ns": 1792822848758262446, + "capture_stop_time_ns": 1792822855267735943, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/left_hand", + "timing": { + "server_start_request_time_ns": 1792822845302357584, + "subprocess_popen_time_ns": 1792822845308047563, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822845345615428, + "validate_start_time_ns": 1792822846295615088, + "session_dir_create_start_time_ns": 1792822845346311511, + "session_dir_create_end_time_ns": 1792822845347216592, + "as5600_init_start_time_ns": 1792822845348286540, + "as5600_init_end_time_ns": 1792822845349078252, + "as5600_zero_start_time_ns": 1792822845350770322, + "as5600_zero_end_time_ns": 1792822846156343481, + "camera_init_start_time_ns": 1792822846158136771, + "camera_init_end_time_ns": 1792822846162224142, + "camera_start_start_time_ns": 1792822846163101001, + "camera_start_end_time_ns": 1792822846164771256, + "camera_first_frame_wait_start_time_ns": 1792822846166465993, + "camera_first_frame_wait_end_time_ns": 1792822846168111767, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822846169780985, + "armed_time_ns": 1792822846280291572, + "waiting_t0_time_ns": 1792822846296783906, + "recording_start_time_ns": 1792822848762184950, + "stop_request_time_ns": 1792822854336109828, + "finalized_time_ns": 1792822855275791441 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822859216102489, + "ended_time_ns": 1792822859217392286, + "duration_s": 0.001289797, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822859216193172, + "ended_time_ns": 1792822859216476113, + "duration_s": 0.000282941, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822859216198135, + "ok": true, + "ended_time_ns": 1792822859216209209, + "duration_s": 1.1074e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822859216210246, + "ok": true, + "ended_time_ns": 1792822859216213802, + "duration_s": 3.556e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822859216214191, + "ok": true, + "ended_time_ns": 1792822859216218117, + "duration_s": 3.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822859216218450, + "ok": true, + "ended_time_ns": 1792822859216463947, + "duration_s": 0.000245497 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822859216464965, + "ok": true, + "ended_time_ns": 1792822859216469169, + "duration_s": 4.204e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822859216469891, + "ok": true, + "ended_time_ns": 1792822859216473095, + "duration_s": 3.204e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822859216473446, + "ok": true, + "ended_time_ns": 1792822859216475724, + "duration_s": 2.278e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822859217219214, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822858819274440, + "frame_age_s": 0.397975385, + "heartbeat_age_s": 0.387709893, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822859217255232, + "duration_s": 3.6018e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822859217257473, + "status_ok": true, + "gap_mm": 79.45297315520511, + "reference_angle_deg": 105.64453125000003, + "sample_observed_time_ns": 1792822858826952337, + "sample_age_s": 0.39031371, + "heartbeat_age_s": 0.387738856, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822859217269584, + "duration_s": 1.2111e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822859217270751, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822859217273343, + "duration_s": 2.592e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822859217274454, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822859217389749, + "duration_s": 0.000115295 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 46, + "ready_token": "7bdb14f9f90641a083053b12d8afe3ba", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "arm_request_id": "10812690f88a43eaa9283f7cee32b7cd", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2185, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855280060865, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822859318948864, + "capture_count": 527, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 79.45297315520511, + "status_ok": true, + "queue_size": 600, + "queue_depth": 244, + "max_queue_depth": 409, + "read_count": 2897, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822859326953719, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822859333958347 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822858646527098, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8668, + "displayed_count": 8426, + "dropped_count": 241, + "decode_error_count": 0, + "last_receive_time_ns": 1792822858553323019, + "last_frame_time_ns": 1792822858556290164, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855280060865, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822859318948864, + "capture_count": 527, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 79.45297315520511, + "status_ok": true, + "queue_size": 600, + "queue_depth": 244, + "max_queue_depth": 409, + "read_count": 2897, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822859326953719, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822859333958347 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + 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116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": 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3.352e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822859650934100, + "ok": true, + "ended_time_ns": 1792822859650936563, + "duration_s": 2.463e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822859650936952, + "ok": true, + "ended_time_ns": 1792822859650938785, + "duration_s": 1.833e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_142059_00047", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + 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"camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822859650731491, + "ended_time_ns": 1792822859650939211, + "duration_s": 0.00020772, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822859650735788, + "ok": true, + "ended_time_ns": 1792822859650743806, + "duration_s": 8.018e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822859650745584, + "ok": true, + "ended_time_ns": 1792822859650748380, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822859650748843, + "ok": true, + "ended_time_ns": 1792822859650751898, + "duration_s": 3.055e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822859650752306, + "ok": true, + "ended_time_ns": 1792822859650929266, + "duration_s": 0.00017696 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822859650930248, + "ok": true, + "ended_time_ns": 1792822859650933600, + "duration_s": 3.352e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822859650934100, + "ok": true, + "ended_time_ns": 1792822859650936563, + "duration_s": 2.463e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822859650936952, + "ok": true, + "ended_time_ns": 1792822859650938785, + "duration_s": 1.833e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": 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--. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 47, + "ready_token": "1a240f9e38c0425d99201ff9afa8b624", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2186, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855280060865, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822859318948864, + "capture_count": 527, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 79.45297315520511, + "status_ok": true, + "queue_size": 600, + "queue_depth": 244, + "max_queue_depth": 409, + "read_count": 2897, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822859326953719, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822859333958347 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822858646527098, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8668, + "displayed_count": 8426, + "dropped_count": 241, + "decode_error_count": 0, + "last_receive_time_ns": 1792822858553323019, + "last_frame_time_ns": 1792822858556290164, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855280060865, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822859318948864, + "capture_count": 527, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 79.45297315520511, + "status_ok": true, + "queue_size": 600, + "queue_depth": 244, + "max_queue_depth": 409, + "read_count": 2897, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822859326953719, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822859333958347 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822859664040512, + "ended_time_ns": 1792822859688529356 + }, + "pi_start_request_time_ns": 1792822859688536641, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822859692201512, + "capture_start_time_ns": 1792822863137119413, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822868289323832, + "capture_stop_time_ns": 1792822869132484791, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142059_00047", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142059_00047", + "--control-generation", + "47", + "--ready-token", + "1a240f9e38c0425d99201ff9afa8b624", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822859668985431, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "capture_start_time_ns": 1792822863137119413, + "capture_stop_time_ns": 1792822869132484791, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand", + "timing": { + "server_start_request_time_ns": 1792822859662594443, + "subprocess_popen_time_ns": 1792822859668985431, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822859695993641, + "validate_start_time_ns": 1792822860667979468, + "session_dir_create_start_time_ns": 1792822859697330494, + "session_dir_create_end_time_ns": 1792822859698285685, + "as5600_init_start_time_ns": 1792822859699351189, + "as5600_init_end_time_ns": 1792822859700734837, + "as5600_zero_start_time_ns": 1792822859702595534, + "as5600_zero_end_time_ns": 1792822860523351470, + "camera_init_start_time_ns": 1792822860525093447, + "camera_init_end_time_ns": 1792822860528967598, + "camera_start_start_time_ns": 1792822860529838420, + "camera_start_end_time_ns": 1792822860531497824, + "camera_first_frame_wait_start_time_ns": 1792822860533210134, + "camera_first_frame_wait_end_time_ns": 1792822860535706563, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822860537124655, + "armed_time_ns": 1792822860666040476, + "waiting_t0_time_ns": 1792822860669933924, + "recording_start_time_ns": 1792822863138991400, + "stop_request_time_ns": 1792822868289641937, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822859650731491, + "ended_time_ns": 1792822859650939211, + "duration_s": 0.00020772, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822859650735788, + "ok": true, + "ended_time_ns": 1792822859650743806, + "duration_s": 8.018e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822859650745584, + "ok": true, + "ended_time_ns": 1792822859650748380, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822859650748843, + "ok": true, + "ended_time_ns": 1792822859650751898, + "duration_s": 3.055e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822859650752306, + "ok": true, + "ended_time_ns": 1792822859650929266, + "duration_s": 0.00017696 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822859650930248, + "ok": true, + "ended_time_ns": 1792822859650933600, + "duration_s": 3.352e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822859650934100, + "ok": true, + "ended_time_ns": 1792822859650936563, + "duration_s": 2.463e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822859650936952, + "ok": true, + "ended_time_ns": 1792822859650938785, + "duration_s": 1.833e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 47, + "ready_token": "1a240f9e38c0425d99201ff9afa8b624", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "arm_request_id": "b86722ebc1f4417eba3bd4d53b52396f", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2186, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855280060865, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822859668864766, + "capture_count": 541, + "capture_error_count": 0, + "writer_count": 260, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 105.64453125000003, + "gripper_gap_mm": 79.45297315520511, + "status_ok": true, + "queue_size": 600, + "queue_depth": 265, + "max_queue_depth": 409, + "read_count": 2918, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822859676957342, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822859690188497 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822868289869379, + "ended_time_ns": 1792822868306901341, + "capture_stop_time_ns": 1792822869132484791, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_142059_00047", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 129604 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 130582 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141770 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 131303 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 130582 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129710 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142059_00047", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142059_00047", + "--control-generation", + "47", + "--ready-token", + "1a240f9e38c0425d99201ff9afa8b624", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822870163070875, + "ended_time_ns": 1792822870183482284, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "capture_start_time_ns": 1792822863137119413, + "capture_stop_time_ns": 1792822869132484791, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/left_hand", + "timing": { + "server_start_request_time_ns": 1792822859662594443, + "subprocess_popen_time_ns": 1792822859668985431, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822859695993641, + "validate_start_time_ns": 1792822860667979468, + "session_dir_create_start_time_ns": 1792822859697330494, + "session_dir_create_end_time_ns": 1792822859698285685, + "as5600_init_start_time_ns": 1792822859699351189, + "as5600_init_end_time_ns": 1792822859700734837, + "as5600_zero_start_time_ns": 1792822859702595534, + "as5600_zero_end_time_ns": 1792822860523351470, + "camera_init_start_time_ns": 1792822860525093447, + "camera_init_end_time_ns": 1792822860528967598, + "camera_start_start_time_ns": 1792822860529838420, + "camera_start_end_time_ns": 1792822860531497824, + "camera_first_frame_wait_start_time_ns": 1792822860533210134, + "camera_first_frame_wait_end_time_ns": 1792822860535706563, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822860537124655, + "armed_time_ns": 1792822860666040476, + "waiting_t0_time_ns": 1792822860669933924, + "recording_start_time_ns": 1792822863138991400, + "stop_request_time_ns": 1792822868296215182, + "finalized_time_ns": 1792822869138918045 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822859650731491, + "ended_time_ns": 1792822859650939211, + "duration_s": 0.00020772, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822859650735788, + "ok": true, + "ended_time_ns": 1792822859650743806, + "duration_s": 8.018e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822859650745584, + "ok": true, + "ended_time_ns": 1792822859650748380, + "duration_s": 2.796e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822859650748843, + "ok": true, + "ended_time_ns": 1792822859650751898, + "duration_s": 3.055e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822859650752306, + "ok": true, + "ended_time_ns": 1792822859650929266, + "duration_s": 0.00017696 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822859650930248, + "ok": true, + "ended_time_ns": 1792822859650933600, + "duration_s": 3.352e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822859650934100, + "ok": true, + "ended_time_ns": 1792822859650936563, + "duration_s": 2.463e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822859650936952, + "ok": true, + "ended_time_ns": 1792822859650938785, + "duration_s": 1.833e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 47, + "ready_token": "1a240f9e38c0425d99201ff9afa8b624", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "arm_request_id": "b86722ebc1f4417eba3bd4d53b52396f", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2186, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869947769715, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822869937540001, + "capture_count": 377, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": 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"camera_init_end_time_ns": 1792822860527552932, + "camera_start_start_time_ns": 1792822860528658978, + "camera_start_end_time_ns": 1792822860530304500, + "camera_first_frame_wait_start_time_ns": 1792822860531972597, + "camera_first_frame_wait_end_time_ns": 1792822860533589841, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822860535055736, + "armed_time_ns": 1792822860663848238, + "waiting_t0_time_ns": 1792822860666731416, + "recording_start_time_ns": 1792822863139965756, + "stop_request_time_ns": 1792822868223386365, + "finalized_time_ns": 1792822869136297277 + }, + "last_error": null, + "capture_start_time_ns": 1792822863137119413, + "capture_stop_time_ns": 1792822869132484791 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "right_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822863137119413, + "capture_stop_time_ns": 1792822869132484791, + "effective_capture_stop_time_ns": 1792822869132484791, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_142059_00047", + "control_generation": 47, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822863137119413, + "capture_stop_time_ns": 1792822869132484791 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 280.9844970709863, + "reference_source": "max_open_init", + "zero_angle_deg": 280.9844970709863, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.277e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822863139870886, + "camera_frame_count": 240, + "camera_started_time_ns": 1792822860527548469, + "camera_stopped_time_ns": 1792822869134812716, + "camera_actual_fps": 27.883424176694735, + "camera_first_frame_time_ns": 1792822863137320668, + "camera_last_frame_time_ns": 1792822869109635737, + "camera_frame_timestamp_fps": 40.017982514110386, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822869133598116, + "capture_count": 345, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 360, + "clamp_first_sample_time_ns": 1792822863137797479, + "clamp_last_sample_time_ns": 1792822869121108931, + "clamp_actual_hz": 60.00021942364367, + "clamp_value_min": 44.72566891750273, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 405, + "read_count": 1835, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1523 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142059_00047/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142059_00047/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..4fd9f83e04c080c98dc995be5573ceef2864577c --- /dev/null +++ b/stack the blocks/session_20261024_142059_00047/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822859617522138, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_142059_00047", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142059_00047/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142045_00046", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142045_00046", + "--control-generation", + "46", + "--ready-token", + "a7b7fc5d69c74ef6b216bd19434df50a", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822859618240738, + "ended_time_ns": 1792822859633423477, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.diagnostics.json", + "capture_start_time_ns": 1792822848758262446, + "capture_stop_time_ns": 1792822855267735943, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142045_00046/right_hand", + "timing": { + "server_start_request_time_ns": 1792822845284450893, + "subprocess_popen_time_ns": 1792822845289080203, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822845298400639, + "validate_start_time_ns": 1792822846292235553, + "session_dir_create_start_time_ns": 1792822845299840867, + "session_dir_create_end_time_ns": 1792822845300812006, + "as5600_init_start_time_ns": 1792822845301954181, + "as5600_init_end_time_ns": 1792822845302904673, + "as5600_zero_start_time_ns": 1792822845304290605, + "as5600_zero_end_time_ns": 1792822846109028906, + "camera_init_start_time_ns": 1792822846110901834, + "camera_init_end_time_ns": 1792822846112985445, + "camera_start_start_time_ns": 1792822846114093490, + "camera_start_end_time_ns": 1792822846115734420, + "camera_first_frame_wait_start_time_ns": 1792822846117394406, + "camera_first_frame_wait_end_time_ns": 1792822846119010595, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822846120644025, + "armed_time_ns": 1792822846291226395, + "waiting_t0_time_ns": 1792822846294219221, + "recording_start_time_ns": 1792822848761432170, + "stop_request_time_ns": 1792822854456499335, + "finalized_time_ns": 1792822855280226782 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822859384118720, + "ended_time_ns": 1792822859385908130, + "duration_s": 0.00178941, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822859384202516, + "ended_time_ns": 1792822859384425921, + "duration_s": 0.000223405, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822859384206812, + "ok": true, + "ended_time_ns": 1792822859384215552, + "duration_s": 8.74e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822859384216627, + "ok": true, + "ended_time_ns": 1792822859384220015, + "duration_s": 3.388e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822859384220478, + "ok": true, + "ended_time_ns": 1792822859384223793, + "duration_s": 3.315e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822859384224163, + "ok": true, + "ended_time_ns": 1792822859384415365, + "duration_s": 0.000191202 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822859384416384, + "ok": true, + "ended_time_ns": 1792822859384419773, + "duration_s": 3.389e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822859384420310, + "ok": true, + "ended_time_ns": 1792822859384423273, + "duration_s": 2.963e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822859384423625, + "ok": true, + "ended_time_ns": 1792822859384425421, + "duration_s": 1.796e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822859385626966, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822859341154602, + "frame_age_s": 0.044549974, + "heartbeat_age_s": 0.036784136, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822859385710687, + "duration_s": 8.3721e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822859385712984, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 280.8966064459863, + "sample_observed_time_ns": 1792822859337782614, + "sample_age_s": 0.047939721, + "heartbeat_age_s": 0.036823098, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822859385726502, + "duration_s": 1.3518e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822859385727595, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822859385730409, + "duration_s": 2.814e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822859385731557, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822859385906149, + "duration_s": 0.000174592 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 46, + "ready_token": "a7b7fc5d69c74ef6b216bd19434df50a", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142045_00046.ready.json", + "arm_request_id": "10812690f88a43eaa9283f7cee32b7cd", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3013, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855282055191, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822859341154602, + "capture_count": 530, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.8966064459863, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 245, + "max_queue_depth": 405, + "read_count": 1248, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822859337782614, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822859348892848 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822858835358437, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8189, + "displayed_count": 6360, + "dropped_count": 1827, + "decode_error_count": 0, + "last_receive_time_ns": 1792822858828126798, + "last_frame_time_ns": 1792822858700025253, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855282055191, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822859341154602, + "capture_count": 530, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.8966064459863, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 245, + "max_queue_depth": 405, + "read_count": 1248, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822859337782614, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822859348892848 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822859636556145, + "ended_time_ns": 1792822859647655585, + "duration_s": 0.000213665, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822859641723835, + "ok": true, + "ended_time_ns": 1792822859641731427, + "duration_s": 7.592e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822859641733223, + "ok": true, + "ended_time_ns": 1792822859641736335, + "duration_s": 3.112e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822859641736779, + "ok": true, + "ended_time_ns": 1792822859641739964, + "duration_s": 3.185e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822859641740335, + "ok": true, + "ended_time_ns": 1792822859641923240, + "duration_s": 0.000182905 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822859641924203, + "ok": true, + "ended_time_ns": 1792822859641927814, + "duration_s": 3.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822859641928333, + "ok": true, + "ended_time_ns": 1792822859641931092, + "duration_s": 2.759e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822859641931499, + "ok": true, + "ended_time_ns": 1792822859641933203, + "duration_s": 1.704e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_142059_00047", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142059_00047", + "--control-generation", + "47", + "--ready-token", + "2fbc6c0ceb974b0f95ec951cbb6ebedc", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822859661357438, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/right_hand", + "timing": { + "server_start_request_time_ns": 1792822859656146817, + "subprocess_popen_time_ns": 1792822859661357438, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822859641719983, + "ended_time_ns": 1792822859641933648, + "duration_s": 0.000213665, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822859641723835, + "ok": true, + "ended_time_ns": 1792822859641731427, + "duration_s": 7.592e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822859641733223, + "ok": true, + "ended_time_ns": 1792822859641736335, + "duration_s": 3.112e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822859641736779, + "ok": true, + "ended_time_ns": 1792822859641739964, + "duration_s": 3.185e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822859641740335, + "ok": true, + "ended_time_ns": 1792822859641923240, + "duration_s": 0.000182905 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822859641924203, + "ok": true, + "ended_time_ns": 1792822859641927814, + "duration_s": 3.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822859641928333, + "ok": true, + "ended_time_ns": 1792822859641931092, + "duration_s": 2.759e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822859641931499, + "ok": true, + "ended_time_ns": 1792822859641933203, + "duration_s": 1.704e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 47, + "ready_token": "2fbc6c0ceb974b0f95ec951cbb6ebedc", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3014, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855282055191, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822859341154602, + "capture_count": 530, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.8966064459863, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 245, + "max_queue_depth": 405, + "read_count": 1248, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822859337782614, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822859348892848 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822858835358437, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8189, + "displayed_count": 6360, + "dropped_count": 1827, + "decode_error_count": 0, + "last_receive_time_ns": 1792822858828126798, + "last_frame_time_ns": 1792822858700025253, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142045_00046", + "generation": 46, + "session_count": 46, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855282055191, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822859341154602, + "capture_count": 530, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.8966064459863, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 245, + "max_queue_depth": 405, + "read_count": 1248, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822859337782614, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822859348892848 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822859651446955, + "ended_time_ns": 1792822859680570885 + }, + "pi_start_request_time_ns": 1792822859680577939, + "capture_start_time_ns": 1792822863137119413, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822868197226808, + "capture_stop_time_ns": 1792822869132484791, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142059_00047", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142059_00047", + "--control-generation", + "47", + "--ready-token", + "2fbc6c0ceb974b0f95ec951cbb6ebedc", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822859661357438, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "capture_start_time_ns": 1792822863137119413, + "capture_stop_time_ns": 1792822869132484791, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/right_hand", + "timing": { + "server_start_request_time_ns": 1792822859656146817, + "subprocess_popen_time_ns": 1792822859661357438, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822859711580306, + "validate_start_time_ns": 1792822860665291521, + "session_dir_create_start_time_ns": 1792822859712592704, + "session_dir_create_end_time_ns": 1792822859714165912, + "as5600_init_start_time_ns": 1792822859716107136, + "as5600_init_end_time_ns": 1792822859717025294, + "as5600_zero_start_time_ns": 1792822859718374004, + "as5600_zero_end_time_ns": 1792822860523719652, + "camera_init_start_time_ns": 1792822860525400155, + "camera_init_end_time_ns": 1792822860527552932, + "camera_start_start_time_ns": 1792822860528658978, + "camera_start_end_time_ns": 1792822860530304500, + "camera_first_frame_wait_start_time_ns": 1792822860531972597, + "camera_first_frame_wait_end_time_ns": 1792822860533589841, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822860535055736, + "armed_time_ns": 1792822860663848238, + "waiting_t0_time_ns": 1792822860666731416, + "recording_start_time_ns": 1792822863139965756, + "stop_request_time_ns": 1792822868219630880, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822859641719983, + "ended_time_ns": 1792822859641933648, + "duration_s": 0.000213665, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822859641723835, + "ok": true, + "ended_time_ns": 1792822859641731427, + "duration_s": 7.592e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822859641733223, + "ok": true, + "ended_time_ns": 1792822859641736335, + "duration_s": 3.112e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822859641736779, + "ok": true, + "ended_time_ns": 1792822859641739964, + "duration_s": 3.185e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822859641740335, + "ok": true, + "ended_time_ns": 1792822859641923240, + "duration_s": 0.000182905 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822859641924203, + "ok": true, + "ended_time_ns": 1792822859641927814, + "duration_s": 3.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822859641928333, + "ok": true, + "ended_time_ns": 1792822859641931092, + "duration_s": 2.759e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822859641931499, + "ok": true, + "ended_time_ns": 1792822859641933203, + "duration_s": 1.704e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 47, + "ready_token": "2fbc6c0ceb974b0f95ec951cbb6ebedc", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "arm_request_id": "b86722ebc1f4417eba3bd4d53b52396f", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3014, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 46, + "last_bootstrap_time_ns": 1792822855282055191, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822859695510282, + "capture_count": 544, + "capture_error_count": 0, + "writer_count": 261, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 280.8966064459863, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 267, + "max_queue_depth": 405, + "read_count": 1270, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822859704459184, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822859707992634 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822868198320580, + "ended_time_ns": 1792822868231806212, + "capture_stop_time_ns": 1792822869132484791, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142059_00047", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142059_00047", + "--control-generation", + "47", + "--ready-token", + "2fbc6c0ceb974b0f95ec951cbb6ebedc", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822870267128410, + "ended_time_ns": 1792822870279639493, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "capture_start_time_ns": 1792822863137119413, + "capture_stop_time_ns": 1792822869132484791, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/right_hand", + "timing": { + "server_start_request_time_ns": 1792822859656146817, + "subprocess_popen_time_ns": 1792822859661357438, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822859711580306, + "validate_start_time_ns": 1792822860665291521, + "session_dir_create_start_time_ns": 1792822859712592704, + "session_dir_create_end_time_ns": 1792822859714165912, + "as5600_init_start_time_ns": 1792822859716107136, + "as5600_init_end_time_ns": 1792822859717025294, + "as5600_zero_start_time_ns": 1792822859718374004, + "as5600_zero_end_time_ns": 1792822860523719652, + "camera_init_start_time_ns": 1792822860525400155, + "camera_init_end_time_ns": 1792822860527552932, + "camera_start_start_time_ns": 1792822860528658978, + "camera_start_end_time_ns": 1792822860530304500, + "camera_first_frame_wait_start_time_ns": 1792822860531972597, + "camera_first_frame_wait_end_time_ns": 1792822860533589841, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822860535055736, + "armed_time_ns": 1792822860663848238, + "waiting_t0_time_ns": 1792822860666731416, + "recording_start_time_ns": 1792822863139965756, + "stop_request_time_ns": 1792822868223386365, + "finalized_time_ns": 1792822869136297277 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822859641719983, + "ended_time_ns": 1792822859641933648, + "duration_s": 0.000213665, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822859641723835, + "ok": true, + "ended_time_ns": 1792822859641731427, + "duration_s": 7.592e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822859641733223, + "ok": true, + "ended_time_ns": 1792822859641736335, + "duration_s": 3.112e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822859641736779, + "ok": true, + "ended_time_ns": 1792822859641739964, + "duration_s": 3.185e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822859641740335, + "ok": true, + "ended_time_ns": 1792822859641923240, + "duration_s": 0.000182905 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822859641924203, + "ok": true, + "ended_time_ns": 1792822859641927814, + "duration_s": 3.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822859641928333, + "ok": true, + "ended_time_ns": 1792822859641931092, + "duration_s": 2.759e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822859641931499, + "ok": true, + "ended_time_ns": 1792822859641933203, + "duration_s": 1.704e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 47, + "ready_token": "2fbc6c0ceb974b0f95ec951cbb6ebedc", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "arm_request_id": "b86722ebc1f4417eba3bd4d53b52396f", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3014, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869941920662, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822869935744847, + "capture_count": 377, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": 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a/stack the blocks/session_20261024_142114_00048/Metadata/ui_backend_metadata.json b/stack the blocks/session_20261024_142114_00048/Metadata/ui_backend_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3fb475e2a02417050a89446e1dec2c4880d14a25 --- /dev/null +++ b/stack the blocks/session_20261024_142114_00048/Metadata/ui_backend_metadata.json @@ -0,0 +1,3618 @@ +{ + "project": "Tele-UMI", + "role": "ui_backend_joint_capture", + "session_id": "session_20261024_142114_00048", + "created_time_ns": 1792822874784931602, + "updated_time_ns": 1792823374928954202, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_names": [ + "left_hand", + "right_hand" + ], + "device_targets": { + "left_hand": { + "hand_name": "left_hand", + "pi_host": "192.168.31.140", + "pi_port": 8765, + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "requested_tracker_serial": "LHR-26B06EF4", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + 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"tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 47, + "ready_token": "1a240f9e38c0425d99201ff9afa8b624", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "arm_request_id": "b86722ebc1f4417eba3bd4d53b52396f", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2186, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869947769715, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822873984474077, + "capture_count": 539, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.0078125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 292, + "max_queue_depth": 292, + "read_count": 292, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822873995853331, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822873999246415 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822873434967916, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8796, + "displayed_count": 8554, + "dropped_count": 242, + "decode_error_count": 0, + "last_receive_time_ns": 1792822873315323323, + "last_frame_time_ns": 1792822873412979508, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869947769715, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822873984474077, + "capture_count": 539, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.0078125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 292, + "max_queue_depth": 292, + "read_count": 292, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822873995853331, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822873999246415 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822874437255863, + "ended_time_ns": 1792822874446936749, + "duration_s": 0.001080893, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822874436011222, + "ended_time_ns": 1792822874436223497, + "duration_s": 0.000212275, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822874436015185, + "ok": true, + "ended_time_ns": 1792822874436022481, + "duration_s": 7.296e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822874436023537, + "ok": true, + "ended_time_ns": 1792822874436026204, + "duration_s": 2.667e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822874436026611, + "ok": true, + "ended_time_ns": 1792822874436029315, + "duration_s": 2.704e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822874436029629, + "ok": true, + "ended_time_ns": 1792822874436211923, + "duration_s": 0.000182294 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822874436212997, + "ok": true, + "ended_time_ns": 1792822874436217071, + "duration_s": 4.074e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822874436217571, + "ok": true, + "ended_time_ns": 1792822874436220201, + "duration_s": 2.63e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822874436220553, + "ok": true, + "ended_time_ns": 1792822874436223090, + "duration_s": 2.537e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822874436863396, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822873984474077, + "frame_age_s": 0.452418319, + "heartbeat_age_s": 0.437629777, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822874436896433, + "duration_s": 3.3037e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822874436898599, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 103.0078125, + "sample_observed_time_ns": 1792822873995853331, + "sample_age_s": 0.441052083, + "heartbeat_age_s": 0.437654925, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822874436908970, + "duration_s": 1.0371e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822874436913006, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822874437009135, + "duration_s": 9.6129e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822874446960672, + "ended_time_ns": 1792822874551350622, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142059_00047", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142059_00047", + "--control-generation", + "47", + "--ready-token", + "2fbc6c0ceb974b0f95ec951cbb6ebedc", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822874551365072, + "ended_time_ns": 1792822874563865740, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "capture_start_time_ns": 1792822863137119413, + "capture_stop_time_ns": 1792822869132484791, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/right_hand", + "timing": { + 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"as5600_init_start_time_ns": 1792822859716107136, + "as5600_init_end_time_ns": 1792822859717025294, + "as5600_zero_start_time_ns": 1792822859718374004, + "as5600_zero_end_time_ns": 1792822860523719652, + "camera_init_start_time_ns": 1792822860525400155, + "camera_init_end_time_ns": 1792822860527552932, + "camera_start_start_time_ns": 1792822860528658978, + "camera_start_end_time_ns": 1792822860530304500, + "camera_first_frame_wait_start_time_ns": 1792822860531972597, + "camera_first_frame_wait_end_time_ns": 1792822860533589841, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822860535055736, + "armed_time_ns": 1792822860663848238, + "waiting_t0_time_ns": 1792822860666731416, + "recording_start_time_ns": 1792822863139965756, + "stop_request_time_ns": 1792822868223386365, + "finalized_time_ns": 1792822869136297277 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822859641719983, + "ended_time_ns": 1792822859641933648, + "duration_s": 0.000213665, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822859641723835, + "ok": true, + "ended_time_ns": 1792822859641731427, + "duration_s": 7.592e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822859641733223, + "ok": true, + "ended_time_ns": 1792822859641736335, + "duration_s": 3.112e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822859641736779, + "ok": true, + "ended_time_ns": 1792822859641739964, + "duration_s": 3.185e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822859641740335, + "ok": true, + "ended_time_ns": 1792822859641923240, + "duration_s": 0.000182905 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822859641924203, + "ok": true, + "ended_time_ns": 1792822859641927814, + "duration_s": 3.611e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822859641928333, + "ok": true, + "ended_time_ns": 1792822859641931092, + "duration_s": 2.759e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822859641931499, + "ok": true, + "ended_time_ns": 1792822859641933203, + "duration_s": 1.704e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 47, + "ready_token": "2fbc6c0ceb974b0f95ec951cbb6ebedc", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "arm_request_id": "b86722ebc1f4417eba3bd4d53b52396f", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3014, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869941920662, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822874505416436, + "capture_count": 560, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.73571777673567, + "gripper_gap_mm": 84.22164880058239, + "status_ok": true, + "queue_size": 600, + "queue_depth": 323, + "max_queue_depth": 323, + "read_count": 323, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822874507495418, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822874509510085 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822874300607037, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8323, + "displayed_count": 6457, + "dropped_count": 1864, + "decode_error_count": 0, + "last_receive_time_ns": 1792822874265253407, + "last_frame_time_ns": 1792822874167559869, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869941920662, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822874505416436, + "capture_count": 560, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.73571777673567, + "gripper_gap_mm": 84.22164880058239, + "status_ok": true, + "queue_size": 600, + "queue_depth": 323, + "max_queue_depth": 323, + "read_count": 323, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822874507495418, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822874509510085 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822874584985282, + "ended_time_ns": 1792822874595157009, + "duration_s": 0.001221545, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822874588082293, + "ended_time_ns": 1792822874588294235, + "duration_s": 0.000211942, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822874588086256, + "ok": true, + "ended_time_ns": 1792822874588093571, + "duration_s": 7.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822874588094552, + "ok": true, + "ended_time_ns": 1792822874588097571, + "duration_s": 3.019e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822874588098015, + "ok": true, + "ended_time_ns": 1792822874588100737, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822874588101237, + "ok": true, + "ended_time_ns": 1792822874588283291, + "duration_s": 0.000182054 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822874588284273, + "ok": true, + "ended_time_ns": 1792822874588288087, + "duration_s": 3.814e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822874588288717, + "ok": true, + "ended_time_ns": 1792822874588291606, + "duration_s": 2.889e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822874588291921, + "ok": true, + "ended_time_ns": 1792822874588293698, + "duration_s": 1.777e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822874589028599, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822874505416436, + "frame_age_s": 0.083643033, + "heartbeat_age_s": 0.079531422, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822874589064155, + "duration_s": 3.5556e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822874589066025, + "status_ok": true, + "gap_mm": 84.22164880058239, + "reference_angle_deg": 279.73571777673567, + "sample_observed_time_ns": 1792822874507495418, + "sample_age_s": 0.081578311, + "heartbeat_age_s": 0.079558829, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822874589076451, + "duration_s": 1.0426e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822874589081006, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822874589207413, + "duration_s": 0.000126407 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822874595183663, + "ended_time_ns": 1792822874697142638, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823102758537336, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823099663216704, + "ended_time_ns": 1792823099681208407, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823099681448557, + "ended_time_ns": 1792823099728690410, + "transferred_bytes": 13695, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,695 bytes\nTotal transferred file size: 13,695 bytes\nLiteral data: 13,695 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,831\n\nsent 46 bytes received 13,831 bytes 27,754.00 bytes/sec\ntotal size is 13,695 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823099728886636, + "ended_time_ns": 1792823102757036588, + "transferred_bytes": 7338127, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 7,338,127 bytes\nTotal transferred file size: 7,338,127 bytes\nLiteral data: 7,338,127 bytes\nMatched data: 0 bytes\nFile list size: 227\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 7,340,328\n\nsent 168 bytes received 7,340,328 bytes 2,097,284.57 bytes/sec\ntotal size is 7,338,127 speedup is 1.00" + } + ], + "transferred_bytes": 7351822, + "copied_local_bytes": 7799176, + "started_time_ns": 1792823099662835331, + "ended_time_ns": 1792823102757600320 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823099663237504, + "ended_time_ns": 1792823099680048595, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823099680267230, + "ended_time_ns": 1792823099723278326, + "transferred_bytes": 13711, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,711 bytes\nTotal transferred file size: 13,711 bytes\nLiteral data: 13,711 bytes\nMatched data: 0 bytes\nFile list size: 75\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,847\n\nsent 46 bytes received 13,847 bytes 27,786.00 bytes/sec\ntotal size is 13,711 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823099723502277, + "ended_time_ns": 1792823100240782194, + "transferred_bytes": 8121031, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,121,031 bytes\nTotal transferred file size: 8,121,031 bytes\nLiteral data: 8,121,031 bytes\nMatched data: 0 bytes\nFile list size: 219\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,123,416\n\nsent 168 bytes received 8,123,416 bytes 5,415,722.67 bytes/sec\ntotal size is 8,121,031 speedup is 1.00" + } + ], + "transferred_bytes": 8134742, + "copied_local_bytes": 8566547, + "started_time_ns": 1792823099663008842, + "ended_time_ns": 1792823100270838596 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_142114_00048", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823374927529637, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823374567355132, + "ended_time_ns": 1792823374927130112, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823374567355132, + "ended_time_ns": 1792823374746986912, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142114_00048", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142114_00048_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142114_00048 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142114_00048_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142114_00048_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142114_00048_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142114_00048\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822878275829420\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822878275829420，vive_T0=1792822878275829420，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822884270777174，vive_Tstop=1792822884270777174，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008528s，first=1792822878284357556，T0=1792822878275829420，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001478s，last=1792822884269299180，Tstop=1792822884270777174，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1198\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00195076255267 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00195076255267 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1198，metadata 1198\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0019475223049 Hz，最低 150.0 Hz，时长 5.984941720962524 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0019475223049 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005919933319091797s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994005718..1.0000000006036047，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.004330110549616723m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.5901426887275453deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=240 duration=6.0s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=240，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 240，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=239，rows=240，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=240，monotonic违规=0，估算频率=40.043229853330566Hz，最大间隔=0.03681932s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 240，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.043229605096144 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.043229605096144 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03681906s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 360，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.4802..99.6721\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 360，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99994337609796 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99994337609796 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019642291s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=360，bad_rows=0，monotonic违规=0，估算频率=59.999938923739045Hz，最大间隔=0.019644476s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 240，metadata 240\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 360，metadata 360\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 240，timestamps 240，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=240，timestamps=240，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=6.0s，timestamps=5.968549548999999s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.015s，camera=5.968549548999999s，clamp=5.9833389800000045s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822878275829420，pi_T0=1792822878275829420，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822884270777174，pi_Tstop=1792822884270777174，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.008217s，first=1792822878284046215，T0=1792822878275829420，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.003328s，first=1792822878279157077，T0=1792822878275829420，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.018181s，last=1792822884252595764，Tstop=1792822884270777174，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.008281s，last=1792822884262496057，Tstop=1792822884270777174，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.016392s，vive=5.984941624s，camera=5.968549548999999s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001603s，vive=5.984941624s，clamp=5.9833389800000045s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.000311s，vive_first=1792822878284357556，camera_first=1792822878284046215，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.005200s，vive_first=1792822878284357556，clamp_first=1792822878279157077，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.016703s，vive_last=1792822884269299180，camera_last=1792822884252595764，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.006803s，vive_last=1792822884269299180，clamp_last=1792822884262496057，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142114_00048_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823374747288926, + "ended_time_ns": 1792823374927130112, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142114_00048", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142114_00048_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142114_00048 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142114_00048_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142114_00048_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142114_00048_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142114_00048\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822878275829420\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822878275829420，vive_T0=1792822878275829420，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822884270777174，vive_Tstop=1792822884270777174，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008528s，first=1792822878284357556，T0=1792822878275829420，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001478s，last=1792822884269299180，Tstop=1792822884270777174，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1198\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00195076255267 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00195076255267 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1198，metadata 1198\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0019475223049 Hz，最低 150.0 Hz，时长 5.984941720962524 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0019475223049 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005919933319091797s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994407531..1.0000000005605718，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0009093701172317027m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.32462567597964526deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=240 duration=6.0s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=240，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 240，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=239，rows=240，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=240，monotonic违规=0，估算频率=40.022907263360665Hz，最大间隔=0.032474822s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 240，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02290589610566 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02290589610566 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032474341s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 359，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 48.3365..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 359，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.0001820385411 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.0001820385411 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018450039s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=359，bad_rows=0，monotonic违规=0，估算频率=60.000187629637026Hz，最大间隔=0.018450447s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 240，metadata 240\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 359，metadata 359\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 240，timestamps 240，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=240，timestamps=240，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.028s，video=6.0s，timestamps=5.9715803900000015s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.005s，camera=5.9715803900000015s，clamp=5.966648564000002s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822878275829420，pi_T0=1792822878275829420，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822884270777174，pi_Tstop=1792822884270777174，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.001702s，first=1792822878277531734，T0=1792822878275829420，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.014170s，first=1792822878289998975，T0=1792822878275829420，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.021665s，last=1792822884249112124，Tstop=1792822884270777174，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.014130s，last=1792822884256647539，Tstop=1792822884270777174，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.013361s，vive=5.984941624s，camera=5.9715803900000015s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.018293s，vive=5.984941624s，clamp=5.966648564000002s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.006826s，vive_first=1792822878284357556，camera_first=1792822878277531734，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.005641s，vive_first=1792822878284357556，clamp_first=1792822878289998975，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.020187s，vive_last=1792822884269299180，camera_last=1792822884249112124，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.012652s，vive_last=1792822884269299180，clamp_last=1792822884256647539，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142114_00048_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142114_00048_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142114_00048\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822878275829420\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822878275829420，vive_T0=1792822878275829420，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822884270777174，vive_Tstop=1792822884270777174，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008528s，first=1792822878284357556，T0=1792822878275829420，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001478s，last=1792822884269299180，Tstop=1792822884270777174，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1198\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00195076255267 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00195076255267 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1198，metadata 1198\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.0019475223049 Hz，最低 150.0 Hz，时长 5.984941720962524 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.0019475223049 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.005919933319091797s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994005718..1.0000000006036047，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.004330110549616723m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.5901426887275453deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=240 duration=6.0s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=240，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 240，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=239，rows=240，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=240，monotonic违规=0，估算频率=40.043229853330566Hz，最大间隔=0.03681932s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 240，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.043229605096144 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.043229605096144 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03681906s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 360，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.4802..99.6721\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 360，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99994337609796 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99994337609796 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019642291s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=360，bad_rows=0，monotonic违规=0，估算频率=59.999938923739045Hz，最大间隔=0.019644476s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 240，metadata 240\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 360，metadata 360\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 240，timestamps 240，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=240，timestamps=240，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=6.0s，timestamps=5.968549548999999s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.015s，camera=5.968549548999999s，clamp=5.9833389800000045s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822878275829420，pi_T0=1792822878275829420，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822884270777174，pi_Tstop=1792822884270777174，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.008217s，first=1792822878284046215，T0=1792822878275829420，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.003328s，first=1792822878279157077，T0=1792822878275829420，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.018181s，last=1792822884252595764，Tstop=1792822884270777174，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.008281s，last=1792822884262496057，Tstop=1792822884270777174，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.016392s，vive=5.984941624s，camera=5.968549548999999s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001603s，vive=5.984941624s，clamp=5.9833389800000045s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.000311s，vive_first=1792822878284357556，camera_first=1792822878284046215，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.005200s，vive_first=1792822878284357556，clamp_first=1792822878279157077，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.016703s，vive_last=1792822884269299180，camera_last=1792822884252595764，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.006803s，vive_last=1792822884269299180，clamp_last=1792822884262496057，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142114_00048_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142114_00048\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822878275829420\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822878275829420，vive_T0=1792822878275829420，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822884270777174，vive_Tstop=1792822884270777174，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008528s，first=1792822878284357556，T0=1792822878275829420，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001478s，last=1792822884269299180，Tstop=1792822884270777174，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1198\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00195076255267 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00195076255267 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1198，metadata 1198\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.0019475223049 Hz，最低 150.0 Hz，时长 5.984941720962524 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.0019475223049 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.005919933319091797s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994407531..1.0000000005605718，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0009093701172317027m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.32462567597964526deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=240 duration=6.0s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=240，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 240，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=239，rows=240，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=240，monotonic违规=0，估算频率=40.022907263360665Hz，最大间隔=0.032474822s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 240，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.02290589610566 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.02290589610566 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032474341s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 359，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 48.3365..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 359，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.0001820385411 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.0001820385411 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.018450039s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=359，bad_rows=0，monotonic违规=0，估算频率=60.000187629637026Hz，最大间隔=0.018450447s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 240，metadata 240\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 359，metadata 359\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 240，timestamps 240，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=240，timestamps=240，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.028s，video=6.0s，timestamps=5.9715803900000015s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.005s，camera=5.9715803900000015s，clamp=5.966648564000002s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822878275829420，pi_T0=1792822878275829420，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822884270777174，pi_Tstop=1792822884270777174，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.001702s，first=1792822878277531734，T0=1792822878275829420，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.014170s，first=1792822878289998975，T0=1792822878275829420，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.021665s，last=1792822884249112124，Tstop=1792822884270777174，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.014130s，last=1792822884256647539，Tstop=1792822884270777174，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.013361s，vive=5.984941624s，camera=5.9715803900000015s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.018293s，vive=5.984941624s，clamp=5.966648564000002s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.006826s，vive_first=1792822878284357556，camera_first=1792822878277531734，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.005641s，vive_first=1792822878284357556，clamp_first=1792822878289998975，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.020187s，vive_last=1792822884269299180，camera_last=1792822884249112124，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.012652s，vive_last=1792822884269299180，clamp_last=1792822884256647539，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142114_00048_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142114_00048/control/stop_left_hand.flag b/stack the blocks/session_20261024_142114_00048/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..45b822e16276ec350e8d3d1e5a0d444bcf81f9f2 --- /dev/null +++ b/stack the blocks/session_20261024_142114_00048/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822884270777174 \ No newline at end of file diff --git a/stack the 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"仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 104.21264643132959, + "reference_source": "max_open_init", + "zero_angle_deg": 104.21264643132959, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.167e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822878281260419, + "camera_frame_count": 240, + "camera_started_time_ns": 1792822875682375690, + "camera_stopped_time_ns": 1792822884277647149, + "camera_actual_fps": 27.92232928823895, + "camera_first_frame_time_ns": 1792822878284046215, + "camera_last_frame_time_ns": 1792822884252595764, + "camera_frame_timestamp_fps": 40.04322960509614, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822884252595764, + "capture_count": 344, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 360, + "clamp_first_sample_time_ns": 1792822878279157077, + "clamp_last_sample_time_ns": 1792822884262496057, + "clamp_actual_hz": 59.999943376098, + "clamp_value_min": 99.48016628523165, + "clamp_value_max": 99.67210493038026, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 344, + "read_count": 908, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1527 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..6691aeff9c04419b1d087656e7038a4e6d537642 --- /dev/null +++ b/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822874806817578, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_142114_00048", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142059_00047", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142059_00047", + "--control-generation", + "47", + "--ready-token", + "1a240f9e38c0425d99201ff9afa8b624", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822874807374231, + "ended_time_ns": 1792822874824630230, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "capture_start_time_ns": 1792822863137119413, + "capture_stop_time_ns": 1792822869132484791, + "data_dir": 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1792822868296215182, + "finalized_time_ns": 1792822869138918045 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822874435929705, + "ended_time_ns": 1792822874437010598, + "duration_s": 0.001080893, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822874436011222, + "ended_time_ns": 1792822874436223497, + "duration_s": 0.000212275, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822874436015185, + "ok": true, + "ended_time_ns": 1792822874436022481, + "duration_s": 7.296e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822874436023537, + "ok": true, + "ended_time_ns": 1792822874436026204, + "duration_s": 2.667e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822874436026611, + "ok": true, + "ended_time_ns": 1792822874436029315, + "duration_s": 2.704e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822874436029629, + "ok": true, + "ended_time_ns": 1792822874436211923, + "duration_s": 0.000182294 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822874436212997, + "ok": true, + "ended_time_ns": 1792822874436217071, + "duration_s": 4.074e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822874436217571, + "ok": true, + "ended_time_ns": 1792822874436220201, + "duration_s": 2.63e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822874436220553, + "ok": true, + "ended_time_ns": 1792822874436223090, + "duration_s": 2.537e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822874436863396, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822873984474077, + "frame_age_s": 0.452418319, + "heartbeat_age_s": 0.437629777, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822874436896433, + "duration_s": 3.3037e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822874436898599, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 103.0078125, + "sample_observed_time_ns": 1792822873995853331, + "sample_age_s": 0.441052083, + "heartbeat_age_s": 0.437654925, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822874436908970, + "duration_s": 1.0371e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822874436910025, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822874436911988, + "duration_s": 1.963e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822874436913006, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822874437009135, + "duration_s": 9.6129e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 47, + "ready_token": "1a240f9e38c0425d99201ff9afa8b624", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "arm_request_id": "b86722ebc1f4417eba3bd4d53b52396f", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2186, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869947769715, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822874484634938, + "capture_count": 559, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.0078125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 322, + "max_queue_depth": 322, + "read_count": 322, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822874495826195, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822874503733459 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822874509400346, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8806, + "displayed_count": 8563, + "dropped_count": 242, + "decode_error_count": 0, + "last_receive_time_ns": 1792822874445501576, + "last_frame_time_ns": 1792822874446080994, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869947769715, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822874484634938, + "capture_count": 559, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.0078125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 322, + "max_queue_depth": 322, + "read_count": 322, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822874495826195, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822874503733459 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822874827852687, + "ended_time_ns": 1792822874837601524, + "duration_s": 0.000330292, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822874827244772, + "ok": true, + "ended_time_ns": 1792822874827256976, + "duration_s": 1.2204e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822874827260735, + "ok": true, + "ended_time_ns": 1792822874827266013, + "duration_s": 5.278e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822874827266457, + "ok": true, + "ended_time_ns": 1792822874827270605, + "duration_s": 4.148e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822874827271309, + "ok": true, + "ended_time_ns": 1792822874827553990, + "duration_s": 0.000282681 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822874827556323, + "ok": true, + "ended_time_ns": 1792822874827560860, + "duration_s": 4.537e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822874827561564, + "ok": true, + "ended_time_ns": 1792822874827564323, + "duration_s": 2.759e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822874827564694, + "ok": true, + "ended_time_ns": 1792822874827566675, + "duration_s": 1.981e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_142114_00048", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142114_00048", + "--control-generation", + "48", + "--ready-token", + "a194cd4937a74f598aa87959e8c2a557", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822874845869929, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "timing": { + "server_start_request_time_ns": 1792822874841084956, + "subprocess_popen_time_ns": 1792822874845869929, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822874827236976, + "ended_time_ns": 1792822874827567268, + "duration_s": 0.000330292, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822874827244772, + "ok": true, + "ended_time_ns": 1792822874827256976, + "duration_s": 1.2204e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822874827260735, + "ok": true, + "ended_time_ns": 1792822874827266013, + "duration_s": 5.278e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822874827266457, + "ok": true, + "ended_time_ns": 1792822874827270605, + "duration_s": 4.148e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822874827271309, + "ok": true, + "ended_time_ns": 1792822874827553990, + "duration_s": 0.000282681 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822874827556323, + "ok": true, + "ended_time_ns": 1792822874827560860, + "duration_s": 4.537e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822874827561564, + "ok": true, + "ended_time_ns": 1792822874827564323, + "duration_s": 2.759e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822874827564694, + "ok": true, + "ended_time_ns": 1792822874827566675, + "duration_s": 1.981e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 48, + "ready_token": "a194cd4937a74f598aa87959e8c2a557", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2187, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869947769715, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822874484634938, + "capture_count": 559, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.0078125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 322, + "max_queue_depth": 322, + "read_count": 322, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822874495826195, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822874503733459 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822874509400346, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8806, + "displayed_count": 8563, + "dropped_count": 242, + "decode_error_count": 0, + "last_receive_time_ns": 1792822874445501576, + "last_frame_time_ns": 1792822874446080994, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869947769715, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822874484634938, + "capture_count": 559, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.0078125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 322, + "max_queue_depth": 322, + "read_count": 322, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822874495826195, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822874503733459 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822874841675878, + "ended_time_ns": 1792822874864382886 + }, + "pi_start_request_time_ns": 1792822874864392195, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822874868666344, + "capture_start_time_ns": 1792822878275829420, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822883459081329, + "capture_stop_time_ns": 1792822884270777174, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142114_00048", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142114_00048", + "--control-generation", + "48", + "--ready-token", + "a194cd4937a74f598aa87959e8c2a557", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822874845869929, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.diagnostics.json", + "capture_start_time_ns": 1792822878275829420, + "capture_stop_time_ns": 1792822884270777174, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "timing": { + "server_start_request_time_ns": 1792822874841084956, + "subprocess_popen_time_ns": 1792822874845869929, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822874864524789, + "validate_start_time_ns": 1792822875801053612, + "session_dir_create_start_time_ns": 1792822874865267020, + "session_dir_create_end_time_ns": 1792822874866210470, + "as5600_init_start_time_ns": 1792822874867270641, + "as5600_init_end_time_ns": 1792822874868191091, + "as5600_zero_start_time_ns": 1792822874869622609, + "as5600_zero_end_time_ns": 1792822875676049831, + "camera_init_start_time_ns": 1792822875677686198, + "camera_init_end_time_ns": 1792822875682392153, + "camera_start_start_time_ns": 1792822875684089963, + "camera_start_end_time_ns": 1792822875687036127, + "camera_first_frame_wait_start_time_ns": 1792822875688810474, + "camera_first_frame_wait_end_time_ns": 1792822875690466859, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822875691999338, + "armed_time_ns": 1792822875799200155, + "waiting_t0_time_ns": 1792822875802837847, + "recording_start_time_ns": 1792822878281281864, + "stop_request_time_ns": 1792822883456448793, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822874827236976, + "ended_time_ns": 1792822874827567268, + "duration_s": 0.000330292, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822874827244772, + "ok": true, + "ended_time_ns": 1792822874827256976, + "duration_s": 1.2204e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822874827260735, + "ok": true, + "ended_time_ns": 1792822874827266013, + "duration_s": 5.278e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822874827266457, + "ok": true, + "ended_time_ns": 1792822874827270605, + "duration_s": 4.148e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822874827271309, + "ok": true, + "ended_time_ns": 1792822874827553990, + "duration_s": 0.000282681 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822874827556323, + "ok": true, + "ended_time_ns": 1792822874827560860, + "duration_s": 4.537e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822874827561564, + "ok": true, + "ended_time_ns": 1792822874827564323, + "duration_s": 2.759e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822874827564694, + "ok": true, + "ended_time_ns": 1792822874827566675, + "duration_s": 1.981e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 48, + "ready_token": "a194cd4937a74f598aa87959e8c2a557", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "arm_request_id": "52ac126fb09d4fb6b4b337b9e9092b30", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2187, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869947769715, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822874858946142, + "capture_count": 574, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 103.0078125, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 343, + "max_queue_depth": 343, + "read_count": 343, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822874845828911, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822874860835468 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822883459679655, + "ended_time_ns": 1792822883472418699, + "capture_stop_time_ns": 1792822884270777174, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_142114_00048", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 129996 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 130582 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141652 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 131707 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 130582 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129788 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142114_00048", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142114_00048", + "--control-generation", + "48", + "--ready-token", + "a194cd4937a74f598aa87959e8c2a557", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822885301303517, + "ended_time_ns": 1792822885317976160, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.diagnostics.json", + "capture_start_time_ns": 1792822878275829420, + "capture_stop_time_ns": 1792822884270777174, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "timing": { + "server_start_request_time_ns": 1792822874841084956, + "subprocess_popen_time_ns": 1792822874845869929, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822874864524789, + "validate_start_time_ns": 1792822875801053612, + "session_dir_create_start_time_ns": 1792822874865267020, + "session_dir_create_end_time_ns": 1792822874866210470, + "as5600_init_start_time_ns": 1792822874867270641, + "as5600_init_end_time_ns": 1792822874868191091, + "as5600_zero_start_time_ns": 1792822874869622609, + "as5600_zero_end_time_ns": 1792822875676049831, + "camera_init_start_time_ns": 1792822875677686198, + "camera_init_end_time_ns": 1792822875682392153, + "camera_start_start_time_ns": 1792822875684089963, + "camera_start_end_time_ns": 1792822875687036127, + "camera_first_frame_wait_start_time_ns": 1792822875688810474, + "camera_first_frame_wait_end_time_ns": 1792822875690466859, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822875691999338, + "armed_time_ns": 1792822875799200155, + "waiting_t0_time_ns": 1792822875802837847, + "recording_start_time_ns": 1792822878281281864, + "stop_request_time_ns": 1792822883458215751, + "finalized_time_ns": 1792822884281947406 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822874827236976, + "ended_time_ns": 1792822874827567268, + "duration_s": 0.000330292, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822874827244772, + "ok": true, + "ended_time_ns": 1792822874827256976, + "duration_s": 1.2204e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822874827260735, + "ok": true, + "ended_time_ns": 1792822874827266013, + "duration_s": 5.278e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822874827266457, + "ok": true, + "ended_time_ns": 1792822874827270605, + "duration_s": 4.148e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822874827271309, + "ok": true, + "ended_time_ns": 1792822874827553990, + "duration_s": 0.000282681 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822874827556323, + "ok": true, + "ended_time_ns": 1792822874827560860, + "duration_s": 4.537e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822874827561564, + "ok": true, + "ended_time_ns": 1792822874827564323, + "duration_s": 2.759e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822874827564694, + "ok": true, + "ended_time_ns": 1792822874827566675, + "duration_s": 1.981e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 48, + "ready_token": "a194cd4937a74f598aa87959e8c2a557", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "arm_request_id": "52ac126fb09d4fb6b4b337b9e9092b30", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2187, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 48, + "last_bootstrap_time_ns": 1792822884283328554, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822884777739215, + "capture_count": 365, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.21264643132959, + "gripper_gap_mm": 84.5581413424469, + "status_ok": true, + "queue_size": 600, + "queue_depth": 31, + "max_queue_depth": 344, + "read_count": 939, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822884779158548, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822884791896821 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822884964761347, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8896, + "displayed_count": 8649, + "dropped_count": 246, + "decode_error_count": 0, + "last_receive_time_ns": 1792822884867193789, + "last_frame_time_ns": 1792822884849157439, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 48, + "last_bootstrap_time_ns": 1792822884283328554, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822884777739215, + "capture_count": 365, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.21264643132959, + "gripper_gap_mm": 84.5581413424469, + "status_ok": true, + "queue_size": 600, + "queue_depth": 31, + "max_queue_depth": 344, + "read_count": 939, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822884779158548, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822884791896821 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792822885326057925, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792822885326057319 + } + }, + "updated_time_ns": 1792822885326058874 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..beca45a2457cf3c7978518dc4f4776c9b79f28fe --- /dev/null +++ b/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822874870821094, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/left_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "left_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-26B06EF4", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + 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和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 279.4189453179257, + "reference_source": "max_open_init", + "zero_angle_deg": 279.4189453179257, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 5.371e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822878280359135, + "camera_frame_count": 240, + "camera_started_time_ns": 1792822875691940931, + "camera_stopped_time_ns": 1792822884276429714, + "camera_actual_fps": 27.957401549091173, + "camera_first_frame_time_ns": 1792822878277531734, + "camera_last_frame_time_ns": 1792822884249112124, + "camera_frame_timestamp_fps": 40.02290589610567, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822884275280262, + "capture_count": 344, + "capture_error_count": 0, + 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"main_loop_iterations": 1525 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..2dafa444463e3d03c3713a64e89bbcc0b220ef84 --- /dev/null +++ b/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822874799759228, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_142114_00048", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142059_00047", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142059_00047", + "--control-generation", + "47", + "--ready-token", + "2fbc6c0ceb974b0f95ec951cbb6ebedc", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822874800265334, + "ended_time_ns": 1792822874814656719, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.diagnostics.json", + "capture_start_time_ns": 1792822863137119413, + "capture_stop_time_ns": 1792822869132484791, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142059_00047/right_hand", + "timing": { + "server_start_request_time_ns": 1792822859656146817, + "subprocess_popen_time_ns": 1792822859661357438, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822859711580306, + "validate_start_time_ns": 1792822860665291521, + "session_dir_create_start_time_ns": 1792822859712592704, + "session_dir_create_end_time_ns": 1792822859714165912, + "as5600_init_start_time_ns": 1792822859716107136, + "as5600_init_end_time_ns": 1792822859717025294, + "as5600_zero_start_time_ns": 1792822859718374004, + "as5600_zero_end_time_ns": 1792822860523719652, + "camera_init_start_time_ns": 1792822860525400155, + "camera_init_end_time_ns": 1792822860527552932, + "camera_start_start_time_ns": 1792822860528658978, + "camera_start_end_time_ns": 1792822860530304500, + "camera_first_frame_wait_start_time_ns": 1792822860531972597, + "camera_first_frame_wait_end_time_ns": 1792822860533589841, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822860535055736, + "armed_time_ns": 1792822860663848238, + "waiting_t0_time_ns": 1792822860666731416, + "recording_start_time_ns": 1792822863139965756, + "stop_request_time_ns": 1792822868223386365, + "finalized_time_ns": 1792822869136297277 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822874587987905, + "ended_time_ns": 1792822874589209450, + "duration_s": 0.001221545, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822874588082293, + "ended_time_ns": 1792822874588294235, + "duration_s": 0.000211942, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822874588086256, + "ok": true, + "ended_time_ns": 1792822874588093571, + "duration_s": 7.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822874588094552, + "ok": true, + "ended_time_ns": 1792822874588097571, + "duration_s": 3.019e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822874588098015, + "ok": true, + "ended_time_ns": 1792822874588100737, + "duration_s": 2.722e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822874588101237, + "ok": true, + "ended_time_ns": 1792822874588283291, + "duration_s": 0.000182054 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822874588284273, + "ok": true, + "ended_time_ns": 1792822874588288087, + "duration_s": 3.814e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822874588288717, + "ok": true, + "ended_time_ns": 1792822874588291606, + "duration_s": 2.889e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822874588291921, + "ok": true, + "ended_time_ns": 1792822874588293698, + "duration_s": 1.777e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822874589028599, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822874505416436, + "frame_age_s": 0.083643033, + "heartbeat_age_s": 0.079531422, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822874589064155, + "duration_s": 3.5556e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822874589066025, + "status_ok": true, + "gap_mm": 84.22164880058239, + "reference_angle_deg": 279.73571777673567, + "sample_observed_time_ns": 1792822874507495418, + "sample_age_s": 0.081578311, + "heartbeat_age_s": 0.079558829, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822874589076451, + "duration_s": 1.0426e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822874589077432, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822874589079747, + "duration_s": 2.315e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822874589081006, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822874589207413, + "duration_s": 0.000126407 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 47, + "ready_token": "2fbc6c0ceb974b0f95ec951cbb6ebedc", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142059_00047.ready.json", + "arm_request_id": "b86722ebc1f4417eba3bd4d53b52396f", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3014, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869941920662, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822874505416436, + "capture_count": 560, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.73571777673567, + "gripper_gap_mm": 84.22164880058239, + "status_ok": true, + "queue_size": 600, + "queue_depth": 323, + "max_queue_depth": 323, + "read_count": 323, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822874507495418, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822874509510085 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822874300607037, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8323, + "displayed_count": 6457, + "dropped_count": 1864, + "decode_error_count": 0, + "last_receive_time_ns": 1792822874265253407, + "last_frame_time_ns": 1792822874167559869, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869941920662, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822874505416436, + "capture_count": 560, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.73571777673567, + "gripper_gap_mm": 84.22164880058239, + "status_ok": true, + "queue_size": 600, + "queue_depth": 323, + "max_queue_depth": 323, + "read_count": 323, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822874507495418, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822874509510085 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + 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1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 48, + "ready_token": "5917684fca5f4725b85efabc710b7ce7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3015, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869941920662, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822874505416436, + "capture_count": 560, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.73571777673567, + "gripper_gap_mm": 84.22164880058239, + "status_ok": true, + "queue_size": 600, + "queue_depth": 323, + "max_queue_depth": 323, + "read_count": 323, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822874507495418, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822874509510085 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822874300607037, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8323, + "displayed_count": 6457, + "dropped_count": 1864, + "decode_error_count": 0, + "last_receive_time_ns": 1792822874265253407, + "last_frame_time_ns": 1792822874167559869, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142059_00047", + "generation": 47, + "session_count": 47, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869941920662, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822874505416436, + "capture_count": 560, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.73571777673567, + "gripper_gap_mm": 84.22164880058239, + "status_ok": true, + "queue_size": 600, + "queue_depth": 323, + "max_queue_depth": 323, + "read_count": 323, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822874507495418, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822874509510085 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822874834531223, + "ended_time_ns": 1792822874854363180 + }, + "pi_start_request_time_ns": 1792822874854370970, + "capture_start_time_ns": 1792822878275829420, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822883345948875, + "capture_stop_time_ns": 1792822884270777174, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142114_00048", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142114_00048", + "--control-generation", + "48", + "--ready-token", + "5917684fca5f4725b85efabc710b7ce7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822874843760925, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.diagnostics.json", + "capture_start_time_ns": 1792822878275829420, + "capture_stop_time_ns": 1792822884270777174, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/right_hand", + "timing": { + "server_start_request_time_ns": 1792822874838902172, + "subprocess_popen_time_ns": 1792822874843760925, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822874870605871, + "validate_start_time_ns": 1792822875809930178, + "session_dir_create_start_time_ns": 1792822874871788305, + "session_dir_create_end_time_ns": 1792822874873119793, + "as5600_init_start_time_ns": 1792822874876414875, + "as5600_init_end_time_ns": 1792822874877501180, + "as5600_zero_start_time_ns": 1792822874880832058, + "as5600_zero_end_time_ns": 1792822875686078632, + "camera_init_start_time_ns": 1792822875687916727, + "camera_init_end_time_ns": 1792822875691945431, + "camera_start_start_time_ns": 1792822875692828035, + "camera_start_end_time_ns": 1792822875694479483, + "camera_first_frame_wait_start_time_ns": 1792822875696155542, + "camera_first_frame_wait_end_time_ns": 1792822875697788509, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822875699277348, + "armed_time_ns": 1792822875808865132, + "waiting_t0_time_ns": 1792822875811855994, + "recording_start_time_ns": 1792822878280402079, + "stop_request_time_ns": 1792822883352057664, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822874825095628, + "ended_time_ns": 1792822874825299941, + "duration_s": 0.000204313, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822874825099739, + "ok": true, + "ended_time_ns": 1792822874825107109, + "duration_s": 7.37e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822874825108887, + "ok": true, + "ended_time_ns": 1792822874825111776, + "duration_s": 2.889e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822874825112220, + "ok": true, + "ended_time_ns": 1792822874825115239, + "duration_s": 3.019e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822874825115609, + "ok": true, + "ended_time_ns": 1792822874825289885, + "duration_s": 0.000174276 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822874825290793, + "ok": true, + "ended_time_ns": 1792822874825294515, + "duration_s": 3.722e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822874825295126, + "ok": true, + "ended_time_ns": 1792822874825297348, + "duration_s": 2.222e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822874825297830, + "ok": true, + "ended_time_ns": 1792822874825299478, + "duration_s": 1.648e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 48, + "ready_token": "5917684fca5f4725b85efabc710b7ce7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "arm_request_id": "52ac126fb09d4fb6b4b337b9e9092b30", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3015, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 47, + "last_bootstrap_time_ns": 1792822869941920662, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822874855152453, + "capture_count": 574, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.73571777673567, + "gripper_gap_mm": 84.22164880058239, + "status_ok": true, + "queue_size": 600, + "queue_depth": 344, + "max_queue_depth": 344, + "read_count": 344, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822874856645551, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822874866311631 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822883346950723, + "ended_time_ns": 1792822883366779658, + "capture_stop_time_ns": 1792822884270777174, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142114_00048", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142114_00048", + "--control-generation", + "48", + "--ready-token", + "5917684fca5f4725b85efabc710b7ce7", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822885405509965, + "ended_time_ns": 1792822885418850864, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.diagnostics.json", + "capture_start_time_ns": 1792822878275829420, + "capture_stop_time_ns": 1792822884270777174, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/right_hand", + "timing": { + "server_start_request_time_ns": 1792822874838902172, + "subprocess_popen_time_ns": 1792822874843760925, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822874870605871, + "validate_start_time_ns": 1792822875809930178, + "session_dir_create_start_time_ns": 1792822874871788305, + "session_dir_create_end_time_ns": 1792822874873119793, + "as5600_init_start_time_ns": 1792822874876414875, + "as5600_init_end_time_ns": 1792822874877501180, + "as5600_zero_start_time_ns": 1792822874880832058, + "as5600_zero_end_time_ns": 1792822875686078632, + "camera_init_start_time_ns": 1792822875687916727, + "camera_init_end_time_ns": 1792822875691945431, + "camera_start_start_time_ns": 1792822875692828035, + "camera_start_end_time_ns": 1792822875694479483, + "camera_first_frame_wait_start_time_ns": 1792822875696155542, + "camera_first_frame_wait_end_time_ns": 1792822875697788509, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822875699277348, + "armed_time_ns": 1792822875808865132, + "waiting_t0_time_ns": 1792822875811855994, + "recording_start_time_ns": 1792822878280402079, + "stop_request_time_ns": 1792822883358688586, + "finalized_time_ns": 1792822884277867683 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822874825095628, + "ended_time_ns": 1792822874825299941, + "duration_s": 0.000204313, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822874825099739, + "ok": true, + "ended_time_ns": 1792822874825107109, + "duration_s": 7.37e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822874825108887, + "ok": true, + "ended_time_ns": 1792822874825111776, + "duration_s": 2.889e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822874825112220, + "ok": true, + "ended_time_ns": 1792822874825115239, + "duration_s": 3.019e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822874825115609, + "ok": true, + "ended_time_ns": 1792822874825289885, + "duration_s": 0.000174276 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822874825290793, + "ok": true, + "ended_time_ns": 1792822874825294515, + "duration_s": 3.722e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822874825295126, + "ok": true, + "ended_time_ns": 1792822874825297348, + "duration_s": 2.222e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822874825297830, + "ok": true, + "ended_time_ns": 1792822874825299478, + "duration_s": 1.648e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 48, + "ready_token": "5917684fca5f4725b85efabc710b7ce7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "arm_request_id": "52ac126fb09d4fb6b4b337b9e9092b30", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3015, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 48, + "last_bootstrap_time_ns": 1792822885094045104, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822885098797117, + "capture_count": 377, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 276.1541748040136, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822885092129455, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822885099734757 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822884371290685, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8411, + "displayed_count": 6515, + "dropped_count": 1894, + "decode_error_count": 0, + "last_receive_time_ns": 1792822884314906279, + "last_frame_time_ns": 1792822884200299985, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 48, + "last_bootstrap_time_ns": 1792822885094045104, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822885098797117, + "capture_count": 377, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 276.1541748040136, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822885092129455, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822885099734757 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200, + "status_poll_attempts": 3 + }, + "final_ok": true + }, + "updated_time_ns": 1792822885422546322 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3bbb7f7b22af5d9d66222510e9ee36d919e7ac98 --- /dev/null +++ b/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822874870836012, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "right_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-F47559F6", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792822878275829420, + "capture_stop_time_ns": 1792822884270777174, + "effective_capture_stop_time_ns": 1792822884270777174, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142114_00048/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 2, + "tracker_serial_used": "LHR-F47559F6", + "vive_bias": { + "x0": 0.08587194234132767, + "y0": -0.7433348298072815, + "z0": -1.0105260610580444, + "qx0": 0.11887217124761693, + "qy0": 0.6717453568266288, + "qz0": -0.07694948963142274, + "qw0": 0.7271219695004449 + }, + "zero_reference_sample_ns": 1792822878284357556 + }, + "data_mark": "FORMAL", + "test_artifact": false, + "result": { + "sample_count": 1198, + "invalid_reads": 0, + "disconnected_reads": 0, + "invalid_pose_reads": 0, + "recording_disconnected_reads": 0, + "recording_invalid_pose_reads": 0, + "started_time_ns": 1792822878279300993, + "effective_record_start_time_ns": 1792822878279300993, + "stopped_time_ns": 1792822884274396651, + "effective_capture_stop_time_ns": 1792822884270777174, + "first_sample_time_ns": 1792822878284357556, + "last_sample_time_ns": 1792822884269299180, + "sample_duration_s": 5.984941624, + "sample_timestamp_hz": 200.00195076255267, + "artifacts": { + "trajectory": { + "path": 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"/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "timing": { + "server_start_request_time_ns": 1792822874841084956, + "subprocess_popen_time_ns": 1792822874845869929, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822874864524789, + "validate_start_time_ns": 1792822875801053612, + "session_dir_create_start_time_ns": 1792822874865267020, + "session_dir_create_end_time_ns": 1792822874866210470, + "as5600_init_start_time_ns": 1792822874867270641, + "as5600_init_end_time_ns": 1792822874868191091, + "as5600_zero_start_time_ns": 1792822874869622609, + "as5600_zero_end_time_ns": 1792822875676049831, + "camera_init_start_time_ns": 1792822875677686198, + "camera_init_end_time_ns": 1792822875682392153, + "camera_start_start_time_ns": 1792822875684089963, + "camera_start_end_time_ns": 1792822875687036127, + "camera_first_frame_wait_start_time_ns": 1792822875688810474, + "camera_first_frame_wait_end_time_ns": 1792822875690466859, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822875691999338, + "armed_time_ns": 1792822875799200155, + "waiting_t0_time_ns": 1792822875802837847, + "recording_start_time_ns": 1792822878281281864, + "stop_request_time_ns": 1792822883458215751, + "finalized_time_ns": 1792822884281947406 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822874827236976, + "ended_time_ns": 1792822874827567268, + "duration_s": 0.000330292, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822874827244772, + "ok": true, + "ended_time_ns": 1792822874827256976, + "duration_s": 1.2204e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822874827260735, + "ok": true, + "ended_time_ns": 1792822874827266013, + "duration_s": 5.278e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822874827266457, + "ok": true, + "ended_time_ns": 1792822874827270605, + "duration_s": 4.148e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822874827271309, + "ok": true, + "ended_time_ns": 1792822874827553990, + "duration_s": 0.000282681 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822874827556323, + "ok": true, + "ended_time_ns": 1792822874827560860, + "duration_s": 4.537e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822874827561564, + "ok": true, + "ended_time_ns": 1792822874827564323, + "duration_s": 2.759e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822874827564694, + "ok": true, + "ended_time_ns": 1792822874827566675, + "duration_s": 1.981e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 48, + "ready_token": "a194cd4937a74f598aa87959e8c2a557", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "arm_request_id": "52ac126fb09d4fb6b4b337b9e9092b30", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2187, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 48, + "last_bootstrap_time_ns": 1792822884283328554, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822886301442210, + "capture_count": 426, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.21264643132959, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 122, + "max_queue_depth": 344, + "read_count": 1030, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822886295830026, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822886308883962 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822886030015363, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8905, + "displayed_count": 8659, + "dropped_count": 246, + "decode_error_count": 0, + "last_receive_time_ns": 1792822885933210721, + "last_frame_time_ns": 1792822886029302021, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 48, + "last_bootstrap_time_ns": 1792822884283328554, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822886301442210, + "capture_count": 426, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.21264643132959, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 122, + "max_queue_depth": 344, + "read_count": 1030, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822886295830026, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822886308883962 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + 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.- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + 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"duration_s": 7.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822886441382882, + "ok": true, + "ended_time_ns": 1792822886441385549, + "duration_s": 2.667e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822886441385975, + "ok": true, + "ended_time_ns": 1792822886441388716, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822886441389049, + "ok": true, + "ended_time_ns": 1792822886441561176, + "duration_s": 0.000172127 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822886441562084, + "ok": true, + "ended_time_ns": 1792822886441565343, + "duration_s": 3.259e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822886441565954, + "ok": true, + "ended_time_ns": 1792822886441568584, + "duration_s": 2.63e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822886441568954, + "ok": true, + "ended_time_ns": 1792822886441570602, + "duration_s": 1.648e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822886442180890, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822886301442210, + "frame_age_s": 0.140763884, + "heartbeat_age_s": 0.133307872, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822886442210371, + "duration_s": 2.9481e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822886442212131, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 104.21264643132959, + "sample_observed_time_ns": 1792822886295830026, + "sample_age_s": 0.146388993, + "heartbeat_age_s": 0.133330965, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822886442221723, + "duration_s": 9.592e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822886442225871, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822886442318666, + "duration_s": 9.2795e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822886452868097, + "ended_time_ns": 1792822886545092832, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142114_00048", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142114_00048", + "--control-generation", + "48", + "--ready-token", + "5917684fca5f4725b85efabc710b7ce7", + "--preview", + "--allow-as5600-status-warning" + ], + 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"started_time_ns": 1792822874825297830, + "ok": true, + "ended_time_ns": 1792822874825299478, + "duration_s": 1.648e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 48, + "ready_token": "5917684fca5f4725b85efabc710b7ce7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "arm_request_id": "52ac126fb09d4fb6b4b337b9e9092b30", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3015, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 48, + "last_bootstrap_time_ns": 1792822885094045104, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822886098036946, + "capture_count": 417, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 276.1541748040136, + "gripper_gap_mm": 84.67030539099042, + "status_ok": true, + "queue_size": 600, + "queue_depth": 110, + "max_queue_depth": 110, + "read_count": 110, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822886108798499, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822886111250162 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822885531333916, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8421, + "displayed_count": 6523, + "dropped_count": 1896, + "decode_error_count": 0, + "last_receive_time_ns": 1792822885448519301, + "last_frame_time_ns": 1792822885413016839, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 48, + "last_bootstrap_time_ns": 1792822885094045104, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822886098036946, + "capture_count": 417, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 276.1541748040136, + "gripper_gap_mm": 84.67030539099042, + "status_ok": true, + "queue_size": 600, + "queue_depth": 110, + "max_queue_depth": 110, + "read_count": 110, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822886108798499, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822886111250162 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822886591893104, + "ended_time_ns": 1792822886603029303, + "duration_s": 0.001296785, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822886594869728, + "ended_time_ns": 1792822886595170392, + "duration_s": 0.000300664, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822886594874580, + "ok": true, + "ended_time_ns": 1792822886594884987, + "duration_s": 1.0407e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822886594886228, + "ok": true, + "ended_time_ns": 1792822886594890117, + "duration_s": 3.889e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822886594890617, + "ok": true, + "ended_time_ns": 1792822886594894543, + "duration_s": 3.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822886594894932, + "ok": true, + "ended_time_ns": 1792822886595154615, + "duration_s": 0.000259683 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822886595156244, + "ok": true, + "ended_time_ns": 1792822886595160948, + "duration_s": 4.704e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822886595161652, + "ok": true, + "ended_time_ns": 1792822886595165096, + "duration_s": 3.444e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822886595165503, + "ok": true, + "ended_time_ns": 1792822886595169855, + "duration_s": 4.352e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822886595900089, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822886098036946, + "frame_age_s": 0.497893884, + "heartbeat_age_s": 0.484662668, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822886595935589, + "duration_s": 3.55e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822886595937163, + "status_ok": true, + "gap_mm": 84.67030539099042, + "reference_angle_deg": 276.1541748040136, + "sample_observed_time_ns": 1792822886108798499, + "sample_age_s": 0.48714622, + "heartbeat_age_s": 0.484689927, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822886595947552, + "duration_s": 1.0389e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822886595952330, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822886596071144, + "duration_s": 0.000118814 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822886603037220, + "ended_time_ns": 1792822886692661811, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823099651712567, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823096436889535, + "ended_time_ns": 1792823096488589762, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823096488767193, + "ended_time_ns": 1792823096573170258, + "transferred_bytes": 13699, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,699 bytes\nTotal transferred file size: 13,699 bytes\nLiteral data: 13,699 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,834\n\nsent 46 bytes received 13,834 bytes 27,760.00 bytes/sec\ntotal size is 13,699 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823096573367267, + "ended_time_ns": 1792823099625055411, + "transferred_bytes": 6968044, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 6,968,044 bytes\nTotal transferred file size: 6,968,044 bytes\nLiteral data: 6,968,044 bytes\nMatched data: 0 bytes\nFile list size: 224\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 6,970,158\n\nsent 168 bytes received 6,970,158 bytes 1,991,521.71 bytes/sec\ntotal size is 6,968,044 speedup is 1.00" + } + ], + "transferred_bytes": 6981743, + "copied_local_bytes": 7468294, + "started_time_ns": 1792823096436563356, + "ended_time_ns": 1792823099650762273 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823096436912132, + "ended_time_ns": 1792823096489896409, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823096490066552, + "ended_time_ns": 1792823096571787674, + "transferred_bytes": 13712, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,712 bytes\nTotal transferred file size: 13,712 bytes\nLiteral data: 13,712 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,847\n\nsent 46 bytes received 13,847 bytes 27,786.00 bytes/sec\ntotal size is 13,712 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823096572016098, + "ended_time_ns": 1792823098697971282, + "transferred_bytes": 9848194, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 9,848,194 bytes\nTotal transferred file size: 9,848,194 bytes\nLiteral data: 9,848,194 bytes\nMatched data: 0 bytes\nFile list size: 216\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 9,851,000\n\nsent 168 bytes received 9,851,000 bytes 3,940,467.20 bytes/sec\ntotal size is 9,848,194 speedup is 1.00" + } + ], + "transferred_bytes": 9861906, + "copied_local_bytes": 10334181, + "started_time_ns": 1792823096436695836, + "ended_time_ns": 1792823098698363005 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_142126_00049", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823374981752917, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823374565624193, + "ended_time_ns": 1792823374981492327, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823374565624193, + "ended_time_ns": 1792823374754617757, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142126_00049", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142126_00049_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142126_00049 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142126_00049_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142126_00049_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142126_00049_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142126_00049\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822890238455979\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822890238455979，vive_T0=1792822890238455979，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822897133107478，vive_Tstop=1792822897133107478，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.006978s，first=1792822890245434203，T0=1792822890238455979，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002825s，last=1792822897130282599，Tstop=1792822897133107478，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1378\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00440398949345 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00440398949345 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1378，metadata 1378\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00440514431705 Hz，最低 150.0 Hz，时长 6.884848356246948 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00440514431705 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006048917770385742s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994399356..1.0000000005673706，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.002719116611266423m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.8799501442059845deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=276 duration=6.9s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=276，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 276，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=275，rows=276，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=276，monotonic违规=0，估算频率=40.03510965562669Hz，最大间隔=0.032699597s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 276，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.035110838791965 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.035110838791965 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032699078s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 414，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 98.8484..99.0403\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 414，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.999982586929974 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999982586929974 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020007305s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=414，bad_rows=0，monotonic违规=0，估算频率=59.999987912835365Hz，最大间隔=0.020007175s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 276，metadata 276\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 414，metadata 414\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 276，timestamps 276，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=276，timestamps=276，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=6.9s，timestamps=6.868970616999994s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.014s，camera=6.868970616999994s，clamp=6.883335331000002s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822890238455979，pi_T0=1792822890238455979，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822897133107478，pi_Tstop=1792822897133107478，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.012070s，first=1792822890250526417，T0=1792822890238455979，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.007371s，first=1792822890245827110，T0=1792822890238455979，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013610s，last=1792822897119497034，Tstop=1792822897133107478，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.003945s，last=1792822897129162441，Tstop=1792822897133107478，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.015878s，vive=6.884848396s，camera=6.868970616999994s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001513s，vive=6.884848396s，clamp=6.883335331000002s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.005092s，vive_first=1792822890245434203，camera_first=1792822890250526417，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.000393s，vive_first=1792822890245434203，clamp_first=1792822890245827110，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.010786s，vive_last=1792822897130282599，camera_last=1792822897119497034，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.001120s，vive_last=1792822897130282599，clamp_last=1792822897129162441，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142126_00049_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823374754884448, + "ended_time_ns": 1792823374981492327, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142126_00049", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142126_00049_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142126_00049 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142126_00049_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142126_00049_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142126_00049_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142126_00049\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822890238455979\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822890238455979，vive_T0=1792822890238455979，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822897133107478，vive_Tstop=1792822897133107478，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.006978s，first=1792822890245434203，T0=1792822890238455979，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002825s，last=1792822897130282599，Tstop=1792822897133107478，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1378\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00440398949345 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00440398949345 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1378，metadata 1378\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00440514431705 Hz，最低 150.0 Hz，时长 6.884848356246948 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00440514431705 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006048917770385742s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994713333..1.0000000005232783，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0005895092057669665m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.12085038454207347deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=276 duration=6.9s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=276，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 276，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=275，rows=276，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=276，monotonic违规=0，估算频率=40.039431787546825Hz，最大间隔=0.032782616s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 276，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03943049336268 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03943049336268 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032781931s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 414，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 30.3223..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 414，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99994594193737 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99994594193737 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.01908059s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=414，bad_rows=0，monotonic违规=0，估算频率=59.999944494966606Hz，最大间隔=0.019079219s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 276，metadata 276\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 414，metadata 414\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 276，timestamps 276，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=276，timestamps=276，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=6.9s，timestamps=6.868229557999998s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.015s，camera=6.868229557999998s，clamp=6.883339534999995s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822890238455979，pi_T0=1792822890238455979，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822897133107478，pi_Tstop=1792822897133107478，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.009247s，first=1792822890247702699，T0=1792822890238455979，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.003676s，first=1792822890242131545，T0=1792822890238455979，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.017175s，last=1792822897115932257，Tstop=1792822897133107478，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.007636s，last=1792822897125471080，Tstop=1792822897133107478，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.016619s，vive=6.884848396s，camera=6.868229557999998s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.001509s，vive=6.884848396s，clamp=6.883339534999995s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.002268s，vive_first=1792822890245434203，camera_first=1792822890247702699，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.003303s，vive_first=1792822890245434203，clamp_first=1792822890242131545，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.014350s，vive_last=1792822897130282599，camera_last=1792822897115932257，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.004812s，vive_last=1792822897130282599，clamp_last=1792822897125471080，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142126_00049_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142126_00049_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142126_00049\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822890238455979\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822890238455979，vive_T0=1792822890238455979，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822897133107478，vive_Tstop=1792822897133107478，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.006978s，first=1792822890245434203，T0=1792822890238455979，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002825s，last=1792822897130282599，Tstop=1792822897133107478，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1378\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00440398949345 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00440398949345 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1378，metadata 1378\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00440514431705 Hz，最低 150.0 Hz，时长 6.884848356246948 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00440514431705 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006048917770385742s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994399356..1.0000000005673706，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.002719116611266423m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.8799501442059845deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=276 duration=6.9s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=276，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 276，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=275，rows=276，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=276，monotonic违规=0，估算频率=40.03510965562669Hz，最大间隔=0.032699597s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 276，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.035110838791965 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.035110838791965 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032699078s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 414，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 98.8484..99.0403\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 414，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.999982586929974 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.999982586929974 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020007305s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=414，bad_rows=0，monotonic违规=0，估算频率=59.999987912835365Hz，最大间隔=0.020007175s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 276，metadata 276\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 414，metadata 414\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 276，timestamps 276，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=276，timestamps=276，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.031s，video=6.9s，timestamps=6.868970616999994s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.014s，camera=6.868970616999994s，clamp=6.883335331000002s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822890238455979，pi_T0=1792822890238455979，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822897133107478，pi_Tstop=1792822897133107478，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.012070s，first=1792822890250526417，T0=1792822890238455979，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.007371s，first=1792822890245827110，T0=1792822890238455979，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013610s，last=1792822897119497034，Tstop=1792822897133107478，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.003945s，last=1792822897129162441，Tstop=1792822897133107478，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.015878s，vive=6.884848396s，camera=6.868970616999994s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001513s，vive=6.884848396s，clamp=6.883335331000002s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.005092s，vive_first=1792822890245434203，camera_first=1792822890250526417，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.000393s，vive_first=1792822890245434203，clamp_first=1792822890245827110，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.010786s，vive_last=1792822897130282599，camera_last=1792822897119497034，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.001120s，vive_last=1792822897130282599，clamp_last=1792822897129162441，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142126_00049_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142126_00049\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822890238455979\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822890238455979，vive_T0=1792822890238455979，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822897133107478，vive_Tstop=1792822897133107478，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.006978s，first=1792822890245434203，T0=1792822890238455979，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.002825s，last=1792822897130282599，Tstop=1792822897133107478，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1378\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00440398949345 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00440398949345 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1378，metadata 1378\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00440514431705 Hz，最低 150.0 Hz，时长 6.884848356246948 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00440514431705 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006048917770385742s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994713333..1.0000000005232783，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0005895092057669665m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.12085038454207347deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=276 duration=6.9s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=276，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 276，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=275，rows=276，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=276，monotonic违规=0，估算频率=40.039431787546825Hz，最大间隔=0.032782616s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 276，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03943049336268 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03943049336268 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032781931s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 414，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 30.3223..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 414，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 59.99994594193737 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99994594193737 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.01908059s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=414，bad_rows=0，monotonic违规=0，估算频率=59.999944494966606Hz，最大间隔=0.019079219s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 276，metadata 276\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 414，metadata 414\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 276，timestamps 276，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=276，timestamps=276，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=6.9s，timestamps=6.868229557999998s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.015s，camera=6.868229557999998s，clamp=6.883339534999995s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822890238455979，pi_T0=1792822890238455979，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822897133107478，pi_Tstop=1792822897133107478，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.009247s，first=1792822890247702699，T0=1792822890238455979，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.003676s，first=1792822890242131545，T0=1792822890238455979，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.017175s，last=1792822897115932257，Tstop=1792822897133107478，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.007636s，last=1792822897125471080，Tstop=1792822897133107478，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.016619s，vive=6.884848396s，camera=6.868229557999998s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.001509s，vive=6.884848396s，clamp=6.883339534999995s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.002268s，vive_first=1792822890245434203，camera_first=1792822890247702699，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.003303s，vive_first=1792822890245434203，clamp_first=1792822890242131545，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.014350s，vive_last=1792822897130282599，camera_last=1792822897115932257，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.004812s，vive_last=1792822897130282599，clamp_last=1792822897125471080，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142126_00049_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142126_00049/control/stop_left_hand.flag b/stack the blocks/session_20261024_142126_00049/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..19a997b8498d77d000ba264d0fb811e2ca2ba267 --- /dev/null +++ b/stack the blocks/session_20261024_142126_00049/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822897133107478 \ No newline at end of file diff --git a/stack the blocks/session_20261024_142126_00049/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the blocks/session_20261024_142126_00049/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 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"button_control": { + "enabled": true, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "_source": { + "path": "/home/zhang/TeleUMI/config/teleumi_config.json" + } + }, + "diagnostics": { + "stage": "idle", + "timing": { + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822886826799510, + "validate_start_time_ns": 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1792822897138757960 + }, + "last_error": null, + "capture_start_time_ns": 1792822890238455979, + "capture_stop_time_ns": 1792822897133107478 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "left_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822890238455979, + "capture_stop_time_ns": 1792822897133107478, + "effective_capture_stop_time_ns": 1792822897133107478, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_142126_00049", + "control_generation": 49, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822890238455979, + "capture_stop_time_ns": 1792822897133107478 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 105.02929687500001, + "reference_source": "max_open_init", + "zero_angle_deg": 105.02929687500001, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + 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"AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 414, + "clamp_first_sample_time_ns": 1792822890245827110, + "clamp_last_sample_time_ns": 1792822897129162441, + "clamp_actual_hz": 59.999982586929995, + "clamp_value_min": 98.84836812910834, + "clamp_value_max": 99.04030677425695, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 344, + "read_count": 1680, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1685 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..88dc36f2bb6e7ffef6ef90a83351f0d55b0ebb17 --- /dev/null +++ b/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822886784651679, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_142126_00049", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + 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"192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142114_00048", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142114_00048", + "--control-generation", + "48", + "--ready-token", + "a194cd4937a74f598aa87959e8c2a557", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822886785193845, + "ended_time_ns": 1792822886799778765, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.diagnostics.json", + "capture_start_time_ns": 1792822878275829420, + "capture_stop_time_ns": 1792822884270777174, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142114_00048/left_hand", + "timing": { + "server_start_request_time_ns": 1792822874841084956, + "subprocess_popen_time_ns": 1792822874845869929, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822874864524789, + "validate_start_time_ns": 1792822875801053612, + "session_dir_create_start_time_ns": 1792822874865267020, + "session_dir_create_end_time_ns": 1792822874866210470, + "as5600_init_start_time_ns": 1792822874867270641, + "as5600_init_end_time_ns": 1792822874868191091, + "as5600_zero_start_time_ns": 1792822874869622609, + "as5600_zero_end_time_ns": 1792822875676049831, + "camera_init_start_time_ns": 1792822875677686198, + "camera_init_end_time_ns": 1792822875682392153, + "camera_start_start_time_ns": 1792822875684089963, + "camera_start_end_time_ns": 1792822875687036127, + "camera_first_frame_wait_start_time_ns": 1792822875688810474, + "camera_first_frame_wait_end_time_ns": 1792822875690466859, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822875691999338, + "armed_time_ns": 1792822875799200155, + "waiting_t0_time_ns": 1792822875802837847, + "recording_start_time_ns": 1792822878281281864, + "stop_request_time_ns": 1792822883458215751, + "finalized_time_ns": 1792822884281947406 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822886441289587, + "ended_time_ns": 1792822886442319888, + "duration_s": 0.001030301, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822886441371105, + "ended_time_ns": 1792822886441571084, + "duration_s": 0.000199979, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822886441374623, + "ok": true, + "ended_time_ns": 1792822886441381938, + "duration_s": 7.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822886441382882, + "ok": true, + "ended_time_ns": 1792822886441385549, + "duration_s": 2.667e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822886441385975, + "ok": true, + "ended_time_ns": 1792822886441388716, + "duration_s": 2.741e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822886441389049, + "ok": true, + "ended_time_ns": 1792822886441561176, + "duration_s": 0.000172127 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822886441562084, + "ok": true, + "ended_time_ns": 1792822886441565343, + "duration_s": 3.259e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822886441565954, + "ok": true, + "ended_time_ns": 1792822886441568584, + "duration_s": 2.63e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822886441568954, + "ok": true, + "ended_time_ns": 1792822886441570602, + "duration_s": 1.648e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822886442180890, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822886301442210, + "frame_age_s": 0.140763884, + "heartbeat_age_s": 0.133307872, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822886442210371, + "duration_s": 2.9481e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822886442212131, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 104.21264643132959, + "sample_observed_time_ns": 1792822886295830026, + "sample_age_s": 0.146388993, + "heartbeat_age_s": 0.133330965, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822886442221723, + "duration_s": 9.592e-06 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822886442222779, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822886442224927, + "duration_s": 2.148e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822886442225871, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822886442318666, + "duration_s": 9.2795e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 48, + "ready_token": "a194cd4937a74f598aa87959e8c2a557", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "arm_request_id": "52ac126fb09d4fb6b4b337b9e9092b30", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2187, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 48, + "last_bootstrap_time_ns": 1792822884283328554, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822886301442210, + "capture_count": 426, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.21264643132959, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 122, + "max_queue_depth": 344, + "read_count": 1030, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822886295830026, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822886308883962 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822886030015363, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8905, + "displayed_count": 8659, + "dropped_count": 246, + "decode_error_count": 0, + "last_receive_time_ns": 1792822885933210721, + "last_frame_time_ns": 1792822886029302021, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 48, + "last_bootstrap_time_ns": 1792822884283328554, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822886301442210, + "capture_count": 426, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.21264643132959, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 122, + "max_queue_depth": 344, + "read_count": 1030, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822886295830026, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822886308883962 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822886803005058, + "ended_time_ns": 1792822886811917613, + "duration_s": 0.000226589, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822886801892272, + "ok": true, + "ended_time_ns": 1792822886801900197, + "duration_s": 7.925e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822886801901864, + "ok": true, + "ended_time_ns": 1792822886801904512, + "duration_s": 2.648e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822886801904994, + "ok": true, + "ended_time_ns": 1792822886801907753, + "duration_s": 2.759e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822886801908123, + "ok": true, + "ended_time_ns": 1792822886802103158, + "duration_s": 0.000195035 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822886802104398, + "ok": true, + "ended_time_ns": 1792822886802108584, + "duration_s": 4.186e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822886802109083, + "ok": true, + "ended_time_ns": 1792822886802111602, + "duration_s": 2.519e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822886802112065, + "ok": true, + "ended_time_ns": 1792822886802114343, + "duration_s": 2.278e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_142126_00049", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142126_00049", + "--control-generation", + "49", + "--ready-token", + "340cde5df260461087ac27e8320f1050", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822886816911847, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "timing": { + "server_start_request_time_ns": 1792822886812086820, + "subprocess_popen_time_ns": 1792822886816911847, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822886801888161, + "ended_time_ns": 1792822886802114750, + "duration_s": 0.000226589, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822886801892272, + "ok": true, + "ended_time_ns": 1792822886801900197, + "duration_s": 7.925e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822886801901864, + "ok": true, + "ended_time_ns": 1792822886801904512, + "duration_s": 2.648e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822886801904994, + "ok": true, + "ended_time_ns": 1792822886801907753, + "duration_s": 2.759e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822886801908123, + "ok": true, + "ended_time_ns": 1792822886802103158, + "duration_s": 0.000195035 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822886802104398, + "ok": true, + "ended_time_ns": 1792822886802108584, + "duration_s": 4.186e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822886802109083, + "ok": true, + "ended_time_ns": 1792822886802111602, + "duration_s": 2.519e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822886802112065, + "ok": true, + "ended_time_ns": 1792822886802114343, + "duration_s": 2.278e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 49, + "ready_token": "340cde5df260461087ac27e8320f1050", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2188, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 48, + "last_bootstrap_time_ns": 1792822884283328554, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822886301442210, + "capture_count": 426, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.21264643132959, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 122, + "max_queue_depth": 344, + "read_count": 1030, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822886295830026, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822886308883962 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822886030015363, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8905, + "displayed_count": 8659, + "dropped_count": 246, + "decode_error_count": 0, + "last_receive_time_ns": 1792822885933210721, + "last_frame_time_ns": 1792822886029302021, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 48, + "last_bootstrap_time_ns": 1792822884283328554, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822886301442210, + "capture_count": 426, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.21264643132959, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 122, + "max_queue_depth": 344, + "read_count": 1030, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822886295830026, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822886308883962 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822886815658123, + "ended_time_ns": 1792822886834749907 + }, + "pi_start_request_time_ns": 1792822886834757904, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822886838163166, + "capture_start_time_ns": 1792822890238455979, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822896224496734, + "capture_stop_time_ns": 1792822897133107478, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142126_00049", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142126_00049", + "--control-generation", + "49", + "--ready-token", + "340cde5df260461087ac27e8320f1050", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822886816911847, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "capture_start_time_ns": 1792822890238455979, + "capture_stop_time_ns": 1792822897133107478, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "timing": { + "server_start_request_time_ns": 1792822886812086820, + "subprocess_popen_time_ns": 1792822886816911847, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822886826799510, + "validate_start_time_ns": 1792822887766931655, + "session_dir_create_start_time_ns": 1792822886827703646, + "session_dir_create_end_time_ns": 1792822886828624782, + "as5600_init_start_time_ns": 1792822886831835109, + "as5600_init_end_time_ns": 1792822886832899373, + "as5600_zero_start_time_ns": 1792822886834250058, + "as5600_zero_end_time_ns": 1792822887638423755, + "camera_init_start_time_ns": 1792822887640506264, + "camera_init_end_time_ns": 1792822887648436324, + "camera_start_start_time_ns": 1792822887650243244, + "camera_start_end_time_ns": 1792822887652263550, + "camera_first_frame_wait_start_time_ns": 1792822887654119840, + "camera_first_frame_wait_end_time_ns": 1792822887656061703, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822887657278557, + "armed_time_ns": 1792822887765261363, + "waiting_t0_time_ns": 1792822887769492824, + "recording_start_time_ns": 1792822890241251949, + "stop_request_time_ns": 1792822896223363445, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822886801888161, + "ended_time_ns": 1792822886802114750, + "duration_s": 0.000226589, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822886801892272, + "ok": true, + "ended_time_ns": 1792822886801900197, + "duration_s": 7.925e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822886801901864, + "ok": true, + "ended_time_ns": 1792822886801904512, + "duration_s": 2.648e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822886801904994, + "ok": true, + "ended_time_ns": 1792822886801907753, + "duration_s": 2.759e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822886801908123, + "ok": true, + "ended_time_ns": 1792822886802103158, + "duration_s": 0.000195035 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822886802104398, + "ok": true, + "ended_time_ns": 1792822886802108584, + "duration_s": 4.186e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822886802109083, + "ok": true, + "ended_time_ns": 1792822886802111602, + "duration_s": 2.519e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822886802112065, + "ok": true, + "ended_time_ns": 1792822886802114343, + "duration_s": 2.278e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 49, + "ready_token": "340cde5df260461087ac27e8320f1050", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "arm_request_id": "b3b702e38ad3452a8407fc2718b61b23", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2188, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 48, + "last_bootstrap_time_ns": 1792822884283328554, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822886801009450, + "capture_count": 446, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.21264643132959, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 153, + "max_queue_depth": 344, + "read_count": 1061, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822886812494333, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822886822894933 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822896226266529, + "ended_time_ns": 1792822896238319549, + "capture_stop_time_ns": 1792822897133107478, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_142126_00049", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 149560 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 150202 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141695 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 152559 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 150202 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129783 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142126_00049", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142126_00049", + "--control-generation", + "49", + "--ready-token", + "340cde5df260461087ac27e8320f1050", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822898160443446, + "ended_time_ns": 1792822898173611080, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "capture_start_time_ns": 1792822890238455979, + "capture_stop_time_ns": 1792822897133107478, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "timing": { + "server_start_request_time_ns": 1792822886812086820, + "subprocess_popen_time_ns": 1792822886816911847, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822886826799510, + "validate_start_time_ns": 1792822887766931655, + "session_dir_create_start_time_ns": 1792822886827703646, + "session_dir_create_end_time_ns": 1792822886828624782, + "as5600_init_start_time_ns": 1792822886831835109, + "as5600_init_end_time_ns": 1792822886832899373, + "as5600_zero_start_time_ns": 1792822886834250058, + "as5600_zero_end_time_ns": 1792822887638423755, + "camera_init_start_time_ns": 1792822887640506264, + "camera_init_end_time_ns": 1792822887648436324, + "camera_start_start_time_ns": 1792822887650243244, + "camera_start_end_time_ns": 1792822887652263550, + "camera_first_frame_wait_start_time_ns": 1792822887654119840, + "camera_first_frame_wait_end_time_ns": 1792822887656061703, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822887657278557, + "armed_time_ns": 1792822887765261363, + "waiting_t0_time_ns": 1792822887769492824, + "recording_start_time_ns": 1792822890241251949, + "stop_request_time_ns": 1792822896224749371, + "finalized_time_ns": 1792822897138757960 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822886801888161, + "ended_time_ns": 1792822886802114750, + "duration_s": 0.000226589, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822886801892272, + "ok": true, + "ended_time_ns": 1792822886801900197, + "duration_s": 7.925e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822886801901864, + "ok": true, + "ended_time_ns": 1792822886801904512, + "duration_s": 2.648e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822886801904994, + "ok": true, + "ended_time_ns": 1792822886801907753, + "duration_s": 2.759e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822886801908123, + "ok": true, + "ended_time_ns": 1792822886802103158, + "duration_s": 0.000195035 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822886802104398, + "ok": true, + "ended_time_ns": 1792822886802108584, + "duration_s": 4.186e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822886802109083, + "ok": true, + "ended_time_ns": 1792822886802111602, + "duration_s": 2.519e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822886802112065, + "ok": true, + "ended_time_ns": 1792822886802114343, + "duration_s": 2.278e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 49, + "ready_token": "340cde5df260461087ac27e8320f1050", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "arm_request_id": "b3b702e38ad3452a8407fc2718b61b23", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2188, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897949916488, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822897943552129, + "capture_count": 413, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.54406738245406, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822897947996217, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822897953141241 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822897583344254, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9004, + "displayed_count": 8753, + "dropped_count": 250, + "decode_error_count": 0, + "last_receive_time_ns": 1792822897529300241, + "last_frame_time_ns": 1792822897578613763, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897949916488, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822897943552129, + "capture_count": 413, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.54406738245406, + "gripper_gap_mm": 0.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 49, + "max_queue_depth": 49, + "read_count": 49, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822897947996217, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822897953141241 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "vive_returncode": 0, + "final_ok": true, + "finished_time_ns": 1792822898230789065, + "quality_check": { + "status": "skipped", + "summary": "等待 Pi 数据整合后再运行完整质量检查", + "reason": "--skip-quality-check", + "time_ns": 1792822898230787803 + } + }, + "updated_time_ns": 1792822898230791987 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..449234827bb81994f2a80cec4b97ecc272e843f3 --- /dev/null +++ b/stack the blocks/session_20261024_142126_00049/left_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822886838498809, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/left_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the 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"deferred_arm": true, + "control_session_id": "session_20261024_142126_00049", + "control_generation": 49, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822890238455979, + "capture_stop_time_ns": 1792822897133107478 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 275.9783935540137, + "reference_source": "max_open_init", + "zero_angle_deg": 275.9783935540137, + "zero_source": "max_open_init", + "init_total_samples": 48, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.593e-06, + "camera_first_frame_ready": true, + "effective_record_start_time_ns": 1792822890244037417, + "camera_frame_count": 276, + "camera_started_time_ns": 1792822887692015908, + "camera_stopped_time_ns": 1792822897140139856, + "camera_actual_fps": 29.212148519540147, + "camera_first_frame_time_ns": 1792822890247702699, + "camera_last_frame_time_ns": 1792822897115932257, + "camera_frame_timestamp_fps": 40.039430493362666, + "camera_diagnostics": { + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + 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"read_count": 771, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1684 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..d016052479296031e07fcf5b5e76a86acca91c6d --- /dev/null +++ b/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822886832668343, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_142126_00049", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + 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"/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142114_00048", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", 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"started_time_ns": 1792822886594890617, + "ok": true, + "ended_time_ns": 1792822886594894543, + "duration_s": 3.926e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822886594894932, + "ok": true, + "ended_time_ns": 1792822886595154615, + "duration_s": 0.000259683 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822886595156244, + "ok": true, + "ended_time_ns": 1792822886595160948, + "duration_s": 4.704e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822886595161652, + "ok": true, + "ended_time_ns": 1792822886595165096, + "duration_s": 3.444e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822886595165503, + "ok": true, + "ended_time_ns": 1792822886595169855, + "duration_s": 4.352e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822886595900089, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822886098036946, + "frame_age_s": 0.497893884, + "heartbeat_age_s": 0.484662668, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822886595935589, + "duration_s": 3.55e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822886595937163, + "status_ok": true, + "gap_mm": 84.67030539099042, + "reference_angle_deg": 276.1541748040136, + "sample_observed_time_ns": 1792822886108798499, + "sample_age_s": 0.48714622, + "heartbeat_age_s": 0.484689927, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822886595947552, + "duration_s": 1.0389e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822886595948478, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822886595951200, + "duration_s": 2.722e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822886595952330, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822886596071144, + "duration_s": 0.000118814 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 48, + "ready_token": "5917684fca5f4725b85efabc710b7ce7", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142114_00048.ready.json", + "arm_request_id": "52ac126fb09d4fb6b4b337b9e9092b30", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3015, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 48, + "last_bootstrap_time_ns": 1792822885094045104, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822886598568195, + "capture_count": 437, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 276.1541748040136, + "gripper_gap_mm": 84.67030539099042, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822886608801215, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822886616120928 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822886659572560, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8431, + "displayed_count": 6531, + "dropped_count": 1898, + "decode_error_count": 0, + "last_receive_time_ns": 1792822886613184362, + "last_frame_time_ns": 1792822886544871192, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 48, + "last_bootstrap_time_ns": 1792822885094045104, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822886598568195, + "capture_count": 437, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 276.1541748040136, + "gripper_gap_mm": 84.67030539099042, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822886608801215, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822886616120928 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822886849824277, + "ended_time_ns": 1792822886859802605, + "duration_s": 0.000201831, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822886853060838, + "ok": true, + "ended_time_ns": 1792822886853068115, + "duration_s": 7.277e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822886853070153, + "ok": true, + "ended_time_ns": 1792822886853073319, + "duration_s": 3.166e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822886853073745, + "ok": true, + "ended_time_ns": 1792822886853076689, + "duration_s": 2.944e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822886853077060, + "ok": true, + "ended_time_ns": 1792822886853249151, + "duration_s": 0.000172091 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822886853250132, + "ok": true, + "ended_time_ns": 1792822886853253540, + "duration_s": 3.408e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822886853254040, + "ok": true, + "ended_time_ns": 1792822886853256577, + "duration_s": 2.537e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822886853256910, + "ok": true, + "ended_time_ns": 1792822886853258762, + "duration_s": 1.852e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_142126_00049", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142126_00049", + "--control-generation", + "49", + "--ready-token", + "6939ad7f9caa41ada989b4a1ea70b904", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822886869081214, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/right_hand", + "timing": { + "server_start_request_time_ns": 1792822886864193424, + "subprocess_popen_time_ns": 1792822886869081214, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822886853057412, + "ended_time_ns": 1792822886853259243, + "duration_s": 0.000201831, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822886853060838, + "ok": true, + "ended_time_ns": 1792822886853068115, + "duration_s": 7.277e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822886853070153, + "ok": true, + "ended_time_ns": 1792822886853073319, + "duration_s": 3.166e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822886853073745, + "ok": true, + "ended_time_ns": 1792822886853076689, + "duration_s": 2.944e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822886853077060, + "ok": true, + "ended_time_ns": 1792822886853249151, + "duration_s": 0.000172091 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822886853250132, + "ok": true, + "ended_time_ns": 1792822886853253540, + "duration_s": 3.408e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822886853254040, + "ok": true, + "ended_time_ns": 1792822886853256577, + "duration_s": 2.537e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822886853256910, + "ok": true, + "ended_time_ns": 1792822886853258762, + "duration_s": 1.852e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 49, + "ready_token": "6939ad7f9caa41ada989b4a1ea70b904", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3016, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 48, + "last_bootstrap_time_ns": 1792822885094045104, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822886598568195, + "capture_count": 437, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 276.1541748040136, + "gripper_gap_mm": 84.67030539099042, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822886608801215, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822886616120928 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822886659572560, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8431, + "displayed_count": 6531, + "dropped_count": 1898, + "decode_error_count": 0, + "last_receive_time_ns": 1792822886613184362, + "last_frame_time_ns": 1792822886544871192, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142114_00048", + "generation": 48, + "session_count": 48, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 48, + "last_bootstrap_time_ns": 1792822885094045104, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822886598568195, + "capture_count": 437, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 276.1541748040136, + "gripper_gap_mm": 84.67030539099042, + "status_ok": true, + "queue_size": 600, + "queue_depth": 140, + "max_queue_depth": 140, + "read_count": 140, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822886608801215, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822886616120928 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822886863268277, + "ended_time_ns": 1792822886883423514 + }, + "pi_start_request_time_ns": 1792822886883429550, + "capture_start_time_ns": 1792822890238455979, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822896134207152, + "capture_stop_time_ns": 1792822897133107478, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142126_00049", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142126_00049", + "--control-generation", + "49", + "--ready-token", + "6939ad7f9caa41ada989b4a1ea70b904", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822886869081214, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + 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"camera_first_frame_wait_start_time_ns": 1792822887698860458, + "camera_first_frame_wait_end_time_ns": 1792822887700488351, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822887702584592, + "armed_time_ns": 1792822887768882594, + "waiting_t0_time_ns": 1792822887772778430, + "recording_start_time_ns": 1792822890244055602, + "stop_request_time_ns": 1792822896138705473, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822886853057412, + "ended_time_ns": 1792822886853259243, + "duration_s": 0.000201831, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822886853060838, + "ok": true, + "ended_time_ns": 1792822886853068115, + "duration_s": 7.277e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822886853070153, + "ok": true, + "ended_time_ns": 1792822886853073319, + "duration_s": 3.166e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822886853073745, + "ok": true, + "ended_time_ns": 1792822886853076689, + "duration_s": 2.944e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822886853077060, + "ok": true, + "ended_time_ns": 1792822886853249151, + "duration_s": 0.000172091 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822886853250132, + "ok": true, + "ended_time_ns": 1792822886853253540, + "duration_s": 3.408e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822886853254040, + "ok": true, + "ended_time_ns": 1792822886853256577, + "duration_s": 2.537e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822886853256910, + "ok": true, + "ended_time_ns": 1792822886853258762, + "duration_s": 1.852e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 49, + "ready_token": "6939ad7f9caa41ada989b4a1ea70b904", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "arm_request_id": "b3b702e38ad3452a8407fc2718b61b23", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3016, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 48, + "last_bootstrap_time_ns": 1792822885094045104, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822886849855163, + "capture_count": 447, + "capture_error_count": 0, + "writer_count": 240, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 276.1541748040136, + "gripper_gap_mm": 84.67030539099042, + "status_ok": true, + "queue_size": 600, + "queue_depth": 155, + "max_queue_depth": 155, + "read_count": 155, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822886858821287, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822886872065669 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822896135293880, + "ended_time_ns": 1792822896152846657, + "capture_stop_time_ns": 1792822897133107478, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142126_00049", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142126_00049", + "--control-generation", + "49", + "--ready-token", + "6939ad7f9caa41ada989b4a1ea70b904", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822897175438818, + "ended_time_ns": 1792822897186546611, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "capture_start_time_ns": 1792822890238455979, + "capture_stop_time_ns": 1792822897133107478, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/right_hand", + "timing": { + "server_start_request_time_ns": 1792822886864193424, + "subprocess_popen_time_ns": 1792822886869081214, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822886877784766, + "validate_start_time_ns": 1792822887770716856, + "session_dir_create_start_time_ns": 1792822886878601814, + "session_dir_create_end_time_ns": 1792822886879566583, + "as5600_init_start_time_ns": 1792822886880556556, + "as5600_init_end_time_ns": 1792822886881458178, + "as5600_zero_start_time_ns": 1792822886883194533, + "as5600_zero_end_time_ns": 1792822887688197275, + "camera_init_start_time_ns": 1792822887689868946, + "camera_init_end_time_ns": 1792822887692020371, + "camera_start_start_time_ns": 1792822887694925790, + "camera_start_end_time_ns": 1792822887696990197, + "camera_first_frame_wait_start_time_ns": 1792822887698860458, + "camera_first_frame_wait_end_time_ns": 1792822887700488351, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822887702584592, + "armed_time_ns": 1792822887768882594, + "waiting_t0_time_ns": 1792822887772778430, + "recording_start_time_ns": 1792822890244055602, + "stop_request_time_ns": 1792822896144308219, + "finalized_time_ns": 1792822897142312930 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822886853057412, + "ended_time_ns": 1792822886853259243, + "duration_s": 0.000201831, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822886853060838, + "ok": true, + "ended_time_ns": 1792822886853068115, + "duration_s": 7.277e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822886853070153, + "ok": true, + "ended_time_ns": 1792822886853073319, + "duration_s": 3.166e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822886853073745, + "ok": true, + "ended_time_ns": 1792822886853076689, + "duration_s": 2.944e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822886853077060, + "ok": true, + "ended_time_ns": 1792822886853249151, + "duration_s": 0.000172091 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822886853250132, + "ok": true, + "ended_time_ns": 1792822886853253540, + "duration_s": 3.408e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822886853254040, + "ok": true, + "ended_time_ns": 1792822886853256577, + "duration_s": 2.537e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822886853256910, + "ok": true, + "ended_time_ns": 1792822886853258762, + "duration_s": 1.852e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 49, + "ready_token": "6939ad7f9caa41ada989b4a1ea70b904", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "arm_request_id": "b3b702e38ad3452a8407fc2718b61b23", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3016, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897146583373, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822897146399893, + "capture_count": 379, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.9783935540137, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 202, + "read_count": 772, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822897142751426, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822897150396784 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822896772095632, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8519, + "displayed_count": 6588, + "dropped_count": 1929, + "decode_error_count": 0, + "last_receive_time_ns": 1792822896770253111, + "last_frame_time_ns": 1792822896587489423, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897146583373, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822897146399893, + "capture_count": 379, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.9783935540137, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 202, + "read_count": 772, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822897142751426, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822897150396784 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "final_ok": true + }, + "updated_time_ns": 1792822897190053645 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..e89d61fb57e41577d570b3bec48036bb0c2c9009 --- /dev/null +++ b/stack the blocks/session_20261024_142126_00049/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822886838510906, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142126_00049/right_hand/Metadata", + "vive_txt_path": 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| xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": 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"stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 49, + "ready_token": "340cde5df260461087ac27e8320f1050", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "arm_request_id": "b3b702e38ad3452a8407fc2718b61b23", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2188, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897949916488, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822905538695418, + "capture_count": 717, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.54406738245406, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 505, + "max_queue_depth": 505, + "read_count": 505, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822905547995459, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822905555798243 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822904965854682, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9067, + "displayed_count": 8816, + "dropped_count": 250, + "decode_error_count": 0, + "last_receive_time_ns": 1792822904878353675, + "last_frame_time_ns": 1792822904873332112, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897949916488, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822905538695418, + "capture_count": 717, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.54406738245406, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 505, + "max_queue_depth": 505, + "read_count": 505, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822905547995459, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822905555798243 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822905708148509, + "ended_time_ns": 1792822905721112736, + "duration_s": 0.00256954, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822905707988547, + "ended_time_ns": 1792822905708225729, + "duration_s": 0.000237182, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822905707992917, + "ok": true, + "ended_time_ns": 1792822905708002232, + "duration_s": 9.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822905708003398, + "ok": true, + "ended_time_ns": 1792822905708006602, + "duration_s": 3.204e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822905708007065, + "ok": true, + "ended_time_ns": 1792822905708010028, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822905708010398, + "ok": true, + "ended_time_ns": 1792822905708213192, + "duration_s": 0.000202794 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822905708214933, + "ok": true, + "ended_time_ns": 1792822905708219507, + "duration_s": 4.574e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822905708220081, + "ok": true, + "ended_time_ns": 1792822905708222710, + "duration_s": 2.629e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822905708223081, + "ok": true, + "ended_time_ns": 1792822905708225284, + "duration_s": 2.203e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822905709752264, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822905538695418, + "frame_age_s": 0.171103401, + "heartbeat_age_s": 0.153972909, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822905709805782, + "duration_s": 5.3518e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822905709808004, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 104.54406738245406, + "sample_observed_time_ns": 1792822905547995459, + "sample_age_s": 0.161844692, + "heartbeat_age_s": 0.15401302, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822905709844466, + "duration_s": 3.6462e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822905709849762, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822905710459847, + "duration_s": 0.000610085 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822905721137367, + "ended_time_ns": 1792822905819916924, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "requested_tracker_serial": "LHR-F47559F6", + "controller": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142126_00049", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142126_00049", + "--control-generation", + "49", + "--ready-token", + "6939ad7f9caa41ada989b4a1ea70b904", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822905819933487, + "ended_time_ns": 1792822905855948812, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "capture_start_time_ns": 1792822890238455979, + "capture_stop_time_ns": 1792822897133107478, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/right_hand", + "timing": { + "server_start_request_time_ns": 1792822886864193424, + "subprocess_popen_time_ns": 1792822886869081214, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822886877784766, + "validate_start_time_ns": 1792822887770716856, + "session_dir_create_start_time_ns": 1792822886878601814, + "session_dir_create_end_time_ns": 1792822886879566583, + "as5600_init_start_time_ns": 1792822886880556556, + "as5600_init_end_time_ns": 1792822886881458178, + "as5600_zero_start_time_ns": 1792822886883194533, + "as5600_zero_end_time_ns": 1792822887688197275, + "camera_init_start_time_ns": 1792822887689868946, + "camera_init_end_time_ns": 1792822887692020371, + "camera_start_start_time_ns": 1792822887694925790, + "camera_start_end_time_ns": 1792822887696990197, + "camera_first_frame_wait_start_time_ns": 1792822887698860458, + "camera_first_frame_wait_end_time_ns": 1792822887700488351, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822887702584592, + "armed_time_ns": 1792822887768882594, + "waiting_t0_time_ns": 1792822887772778430, + "recording_start_time_ns": 1792822890244055602, + "stop_request_time_ns": 1792822896144308219, + "finalized_time_ns": 1792822897142312930 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822886853057412, + "ended_time_ns": 1792822886853259243, + "duration_s": 0.000201831, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822886853060838, + "ok": true, + "ended_time_ns": 1792822886853068115, + "duration_s": 7.277e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822886853070153, + "ok": true, + "ended_time_ns": 1792822886853073319, + "duration_s": 3.166e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822886853073745, + "ok": true, + "ended_time_ns": 1792822886853076689, + "duration_s": 2.944e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822886853077060, + "ok": true, + "ended_time_ns": 1792822886853249151, + "duration_s": 0.000172091 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822886853250132, + "ok": true, + "ended_time_ns": 1792822886853253540, + "duration_s": 3.408e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822886853254040, + "ok": true, + "ended_time_ns": 1792822886853256577, + "duration_s": 2.537e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822886853256910, + "ok": true, + "ended_time_ns": 1792822886853258762, + "duration_s": 1.852e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 49, + "ready_token": "6939ad7f9caa41ada989b4a1ea70b904", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "arm_request_id": "b3b702e38ad3452a8407fc2718b61b23", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3016, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897146583373, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822905735268322, + "capture_count": 723, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.9783935540137, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 517, + "max_queue_depth": 517, + "read_count": 1288, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822905742128835, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822905749420622 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822905551824103, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8594, + "displayed_count": 6651, + "dropped_count": 1941, + "decode_error_count": 0, + "last_receive_time_ns": 1792822905521911980, + "last_frame_time_ns": 1792822905416196107, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897146583373, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822905735268322, + "capture_count": 723, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.9783935540137, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 517, + "max_queue_depth": 517, + "read_count": 1288, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822905742128835, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822905749420622 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822905950634315, + "ended_time_ns": 1792822905959113176, + "duration_s": 0.001053268, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822905952323483, + "ended_time_ns": 1792822905952531333, + "duration_s": 0.00020785, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822905952327039, + "ok": true, + "ended_time_ns": 1792822905952334076, + "duration_s": 7.037e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822905952335131, + "ok": true, + "ended_time_ns": 1792822905952338502, + "duration_s": 3.371e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822905952338964, + "ok": true, + "ended_time_ns": 1792822905952341946, + "duration_s": 2.982e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822905952342316, + "ok": true, + "ended_time_ns": 1792822905952521259, + "duration_s": 0.000178943 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822905952522296, + "ok": true, + "ended_time_ns": 1792822905952525778, + "duration_s": 3.482e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822905952526333, + "ok": true, + "ended_time_ns": 1792822905952528796, + "duration_s": 2.463e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822905952529204, + "ok": true, + "ended_time_ns": 1792822905952530833, + "duration_s": 1.629e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822905953136365, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822905735268322, + "frame_age_s": 0.217903246, + "heartbeat_age_s": 0.203734057, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822905953175531, + "duration_s": 3.9166e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822905953177087, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 275.9783935540137, + "sample_observed_time_ns": 1792822905742128835, + "sample_age_s": 0.211055289, + "heartbeat_age_s": 0.20375915, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822905953187216, + "duration_s": 1.0129e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822905953191605, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822905953290567, + "duration_s": 9.8962e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822905959137078, + "ended_time_ns": 1792822906060951447, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823096426915240, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823093366018649, + "ended_time_ns": 1792823093381663065, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823093381751756, + "ended_time_ns": 1792823093430158357, + "transferred_bytes": 13698, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,698 bytes\nTotal transferred file size: 13,698 bytes\nLiteral data: 13,698 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,833\n\nsent 46 bytes received 13,833 bytes 27,758.00 bytes/sec\ntotal size is 13,698 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823093430355665, + "ended_time_ns": 1792823096421907835, + "transferred_bytes": 6962150, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 6,962,150 bytes\nTotal transferred file size: 6,962,150 bytes\nLiteral data: 6,962,150 bytes\nMatched data: 0 bytes\nFile list size: 222\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 6,964,262\n\nsent 168 bytes received 6,964,262 bytes 1,989,837.14 bytes/sec\ntotal size is 6,962,150 speedup is 1.00" + } + ], + "transferred_bytes": 6975848, + "copied_local_bytes": 7405613, + "started_time_ns": 1792823093365432661, + "ended_time_ns": 1792823096425981633 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823093367029473, + "ended_time_ns": 1792823093382383466, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823093382461286, + "ended_time_ns": 1792823093433194682, + "transferred_bytes": 13712, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,712 bytes\nTotal transferred file size: 13,712 bytes\nLiteral data: 13,712 bytes\nMatched data: 0 bytes\nFile list size: 73\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,846\n\nsent 46 bytes received 13,846 bytes 27,784.00 bytes/sec\ntotal size is 13,712 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823093433411698, + "ended_time_ns": 1792823094002495996, + "transferred_bytes": 8025071, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 8,025,071 bytes\nTotal transferred file size: 8,025,071 bytes\nLiteral data: 8,025,071 bytes\nMatched data: 0 bytes\nFile list size: 212\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 8,027,429\n\nsent 168 bytes received 8,027,429 bytes 16,055,194.00 bytes/sec\ntotal size is 8,025,071 speedup is 1.00" + } + ], + "transferred_bytes": 8038783, + "copied_local_bytes": 8451965, + "started_time_ns": 1792823093365762166, + "ended_time_ns": 1792823094002730193 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_142146_00050", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823374544312686, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823374152636413, + "ended_time_ns": 1792823374543995407, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823374152636413, + "ended_time_ns": 1792823374337701986, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142146_00050", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142146_00050_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142146_00050 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142146_00050_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142146_00050_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142146_00050_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142146_00050\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822909659801768\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822909659801768，vive_T0=1792822909659801768，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822915237345659，vive_Tstop=1792822915237345659，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008006s，first=1792822909667807765，T0=1792822909659801768，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004770s，last=1792822915232575306，Tstop=1792822915237345659，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1114\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.0083546706412 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.0083546706412 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1114，metadata 1114\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00835258220675 Hz，最低 150.0 Hz，时长 5.564767599105835 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00835258220675 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006143093109130859s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994160385..1.0000000005716814，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0044429103081374465m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.9906750812362812deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=224 duration=5.6s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=224，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 224，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=223，rows=224，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=224，monotonic违规=0，估算频率=40.017354489420946Hz，最大间隔=0.03376349s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 224，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.01734903895533 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.01734903895533 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033763508s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 335，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.7376..99.9295\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 335，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.9999160324528 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.9999160324528 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021452933s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=335，bad_rows=0，monotonic违规=0，估算频率=59.99991164563909Hz，最大间隔=0.02145323s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 224，metadata 224\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 335，metadata 335\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 224，timestamps 224，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=224，timestamps=224，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.027s，video=5.6s，timestamps=5.572583026000003s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.006s，camera=5.572583026000003s，clamp=5.566674457000003s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822909659801768，pi_T0=1792822909659801768，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822915237345659，pi_Tstop=1792822915237345659，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.002008s，first=1792822909661809486，T0=1792822909659801768，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.004869s，first=1792822909664670948，T0=1792822909659801768，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.002953s，last=1792822915234392512，Tstop=1792822915237345659，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.006000s，last=1792822915231345405，Tstop=1792822915237345659，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.007815s，vive=5.564767541s，camera=5.572583026000003s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001907s，vive=5.564767541s，clamp=5.566674457000003s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.005998s，vive_first=1792822909667807765，camera_first=1792822909661809486，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.003137s，vive_first=1792822909667807765，clamp_first=1792822909664670948，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.001817s，vive_last=1792822915232575306，camera_last=1792822915234392512，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.001230s，vive_last=1792822915232575306，clamp_last=1792822915231345405，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142146_00050_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823374338125782, + "ended_time_ns": 1792823374543995407, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142146_00050", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142146_00050_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142146_00050 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142146_00050_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142146_00050_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142146_00050_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142146_00050\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822909659801768\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822909659801768，vive_T0=1792822909659801768，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822915237345659，vive_Tstop=1792822915237345659，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008006s，first=1792822909667807765，T0=1792822909659801768，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004770s，last=1792822915232575306，Tstop=1792822915237345659，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1114\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.0083546706412 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.0083546706412 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1114，metadata 1114\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00835258220675 Hz，最低 150.0 Hz，时长 5.564767599105835 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00835258220675 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006143093109130859s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994807323..1.0000000005349141，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0007635543443560533m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.28747966797925134deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=223 duration=5.575s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=223，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 223，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=222，rows=223，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=223，monotonic违规=0，估算频率=39.97364767887222Hz，最大间隔=0.032466507s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 223，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 39.973655416416236 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 39.973655416416236 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032465674s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 334，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 48.7564..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 334，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.00006974062163 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00006974062163 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019229107s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=334，bad_rows=0，monotonic违规=0，估算频率=60.000065535206716Hz，最大间隔=0.019228143s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 223，metadata 223\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 334，metadata 334\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 223，timestamps 223，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=223，timestamps=223，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.021s，video=5.575s，timestamps=5.553657720000004s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.004s，camera=5.553657720000004s，clamp=5.549993548999997s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822909659801768，pi_T0=1792822909659801768，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822915237345659，pi_Tstop=1792822915237345659，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.023242s，first=1792822909683044039，T0=1792822909659801768，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.015659s，first=1792822909675460495，T0=1792822909659801768，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.000644s，last=1792822915236701759，Tstop=1792822915237345659，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.011892s，last=1792822915225454044，Tstop=1792822915237345659，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.011110s，vive=5.564767541s，camera=5.553657720000004s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.014774s，vive=5.564767541s，clamp=5.549993548999997s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.015236s，vive_first=1792822909667807765，camera_first=1792822909683044039，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.007653s，vive_first=1792822909667807765，clamp_first=1792822909675460495，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.004126s，vive_last=1792822915232575306，camera_last=1792822915236701759，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.007121s，vive_last=1792822915232575306，clamp_last=1792822915225454044，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142146_00050_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142146_00050_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142146_00050\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822909659801768\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822909659801768，vive_T0=1792822909659801768，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822915237345659，vive_Tstop=1792822915237345659，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.008006s，first=1792822909667807765，T0=1792822909659801768，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004770s，last=1792822915232575306，Tstop=1792822915237345659，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1114\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.0083546706412 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.0083546706412 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1114，metadata 1114\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00835258220675 Hz，最低 150.0 Hz，时长 5.564767599105835 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00835258220675 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006143093109130859s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994160385..1.0000000005716814，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0044429103081374465m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.9906750812362812deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=224 duration=5.6s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=224，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 224，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=223，rows=224，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=224，monotonic违规=0，估算频率=40.017354489420946Hz，最大间隔=0.03376349s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 224，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.01734903895533 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.01734903895533 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033763508s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 335，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.7376..99.9295\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 335，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.9999160324528 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.9999160324528 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.021452933s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=335，bad_rows=0，monotonic违规=0，估算频率=59.99991164563909Hz，最大间隔=0.02145323s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 224，metadata 224\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 335，metadata 335\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 224，timestamps 224，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=224，timestamps=224，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.027s，video=5.6s，timestamps=5.572583026000003s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.006s，camera=5.572583026000003s，clamp=5.566674457000003s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822909659801768，pi_T0=1792822909659801768，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822915237345659，pi_Tstop=1792822915237345659，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.002008s，first=1792822909661809486，T0=1792822909659801768，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.004869s，first=1792822909664670948，T0=1792822909659801768，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.002953s，last=1792822915234392512，Tstop=1792822915237345659，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.006000s，last=1792822915231345405，Tstop=1792822915237345659，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.007815s，vive=5.564767541s，camera=5.572583026000003s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.001907s，vive=5.564767541s，clamp=5.566674457000003s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.005998s，vive_first=1792822909667807765，camera_first=1792822909661809486，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.003137s，vive_first=1792822909667807765，clamp_first=1792822909664670948，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.001817s，vive_last=1792822915232575306，camera_last=1792822915234392512，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.001230s，vive_last=1792822915232575306，clamp_last=1792822915231345405，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142146_00050_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142146_00050\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822909659801768\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822909659801768，vive_T0=1792822909659801768，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822915237345659，vive_Tstop=1792822915237345659，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.008006s，first=1792822909667807765，T0=1792822909659801768，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.004770s，last=1792822915232575306，Tstop=1792822915237345659，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1114\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.0083546706412 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.0083546706412 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1114，metadata 1114\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00835258220675 Hz，最低 150.0 Hz，时长 5.564767599105835 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00835258220675 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006143093109130859s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999994807323..1.0000000005349141，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.0007635543443560533m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.28747966797925134deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=223 duration=5.575s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=223，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 223，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=222，rows=223，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=223，monotonic违规=0，估算频率=39.97364767887222Hz，最大间隔=0.032466507s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 223，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 39.973655416416236 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 39.973655416416236 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.032465674s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 334，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 48.7564..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 334，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.00006974062163 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.00006974062163 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.019229107s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=334，bad_rows=0，monotonic违规=0，估算频率=60.000065535206716Hz，最大间隔=0.019228143s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 223，metadata 223\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 334，metadata 334\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 223，timestamps 223，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=223，timestamps=223，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.021s，video=5.575s，timestamps=5.553657720000004s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.004s，camera=5.553657720000004s，clamp=5.549993548999997s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822909659801768，pi_T0=1792822909659801768，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822915237345659，pi_Tstop=1792822915237345659，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.023242s，first=1792822909683044039，T0=1792822909659801768，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.015659s，first=1792822909675460495，T0=1792822909659801768，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.000644s，last=1792822915236701759，Tstop=1792822915237345659，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.011892s，last=1792822915225454044，Tstop=1792822915237345659，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.011110s，vive=5.564767541s，camera=5.553657720000004s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.014774s，vive=5.564767541s，clamp=5.549993548999997s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.015236s，vive_first=1792822909667807765，camera_first=1792822909683044039，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.007653s，vive_first=1792822909667807765，clamp_first=1792822909675460495，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.004126s，vive_last=1792822915232575306，camera_last=1792822915236701759，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.007121s，vive_last=1792822915232575306，clamp_last=1792822915225454044，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142146_00050_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142146_00050/control/stop_left_hand.flag b/stack the blocks/session_20261024_142146_00050/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..4a94a00bccfdb7e4d1cd740861bf9d0f689dd092 --- /dev/null +++ b/stack the blocks/session_20261024_142146_00050/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822915237345659 \ No newline at end of file diff --git a/stack the blocks/session_20261024_142146_00050/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the 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1792822909664670948, + "clamp_last_sample_time_ns": 1792822915231345405, + "clamp_actual_hz": 59.99991603245284, + "clamp_value_min": 99.7375533205649, + "clamp_value_max": 99.92949196571351, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 548, + "read_count": 1086, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1453 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142146_00050/left_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142146_00050/left_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..3bf902e96848aeed6e2e1ca4eff81a1561958701 --- /dev/null +++ b/stack the blocks/session_20261024_142146_00050/left_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,4285 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822906165815809, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand", + "session_id": "session_20261024_142146_00050", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/left_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + 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2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": false, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.140", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.140:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "left_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142126_00049", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142126_00049", + "--control-generation", + "49", + "--ready-token", + "340cde5df260461087ac27e8320f1050", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822906166364683, + "ended_time_ns": 1792822906182727339, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "capture_start_time_ns": 1792822890238455979, + "capture_stop_time_ns": 1792822897133107478, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/left_hand", + "timing": { + "server_start_request_time_ns": 1792822886812086820, + "subprocess_popen_time_ns": 1792822886816911847, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822886826799510, + "validate_start_time_ns": 1792822887766931655, + "session_dir_create_start_time_ns": 1792822886827703646, + "session_dir_create_end_time_ns": 1792822886828624782, + "as5600_init_start_time_ns": 1792822886831835109, + "as5600_init_end_time_ns": 1792822886832899373, + "as5600_zero_start_time_ns": 1792822886834250058, + "as5600_zero_end_time_ns": 1792822887638423755, + "camera_init_start_time_ns": 1792822887640506264, + "camera_init_end_time_ns": 1792822887648436324, + "camera_start_start_time_ns": 1792822887650243244, + "camera_start_end_time_ns": 1792822887652263550, + "camera_first_frame_wait_start_time_ns": 1792822887654119840, + "camera_first_frame_wait_end_time_ns": 1792822887656061703, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822887657278557, + "armed_time_ns": 1792822887765261363, + "waiting_t0_time_ns": 1792822887769492824, + "recording_start_time_ns": 1792822890241251949, + "stop_request_time_ns": 1792822896224749371, + "finalized_time_ns": 1792822897138757960 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822905707893548, + "ended_time_ns": 1792822905710463088, + "duration_s": 0.00256954, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822905707988547, + "ended_time_ns": 1792822905708225729, + "duration_s": 0.000237182, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822905707992917, + "ok": true, + "ended_time_ns": 1792822905708002232, + "duration_s": 9.315e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822905708003398, + "ok": true, + "ended_time_ns": 1792822905708006602, + "duration_s": 3.204e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822905708007065, + "ok": true, + "ended_time_ns": 1792822905708010028, + "duration_s": 2.963e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822905708010398, + "ok": true, + "ended_time_ns": 1792822905708213192, + "duration_s": 0.000202794 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822905708214933, + "ok": true, + "ended_time_ns": 1792822905708219507, + "duration_s": 4.574e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822905708220081, + "ok": true, + "ended_time_ns": 1792822905708222710, + "duration_s": 2.629e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822905708223081, + "ok": true, + "ended_time_ns": 1792822905708225284, + "duration_s": 2.203e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822905709752264, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822905538695418, + "frame_age_s": 0.171103401, + "heartbeat_age_s": 0.153972909, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822905709805782, + "duration_s": 5.3518e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822905709808004, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 104.54406738245406, + "sample_observed_time_ns": 1792822905547995459, + "sample_age_s": 0.161844692, + "heartbeat_age_s": 0.15401302, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822905709844466, + "duration_s": 3.6462e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822905709845651, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822905709848374, + "duration_s": 2.723e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822905709849762, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822905710459847, + "duration_s": 0.000610085 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 49, + "ready_token": "340cde5df260461087ac27e8320f1050", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "arm_request_id": "b3b702e38ad3452a8407fc2718b61b23", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2188, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897949916488, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822906038354119, + "capture_count": 737, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.54406738245406, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 535, + "max_queue_depth": 535, + "read_count": 535, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822906048031248, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822906060426822 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822906004694517, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9076, + "displayed_count": 8825, + "dropped_count": 250, + "decode_error_count": 0, + "last_receive_time_ns": 1792822905918943930, + "last_frame_time_ns": 1792822905898014878, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897949916488, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822906038354119, + "capture_count": 737, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.54406738245406, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 535, + "max_queue_depth": 535, + "read_count": 535, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822906048031248, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822906060426822 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809594185676831, + "ended_time_ns": 1792809594310815888 + } + }, + "wait": { + "ok": true, + "attempts": 14, + "waited_s": 6.740573251000001, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601034729256, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511650 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601034730645, + "ended_time_ns": 1792809601039473501 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511650 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.06851165 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601039484760, + "ended_time_ns": 1792809601041335154 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,042342944+08:00\n", + "stderr": "", + "started_time_ns": 1792809601041339080, + "ended_time_ns": 1792809601042477665 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 1.198e-06, + "last_offset_s": -1.198e-06, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792809601051423973, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 02:40:00 2026\nSystem time : 0.000000243 seconds fast of NTP time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 1792809601056849824, + "ended_time_ns": 1792809601061467402 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "95.111.202.5", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "2", + "line": "^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms" + }, + { + "state": "^-", + "name": "162.159.200.123", + "selected": false, + "reachable": true, + "stratum": "3", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms" + }, + { + "state": "^-", + "name": "116.203.151.74", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "17", + "reach_value": 15, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T10:40:01,062205101+08:00\n", + "stderr": "", + "started_time_ns": 1792809601061471384, + "ended_time_ns": 1792809601062326896 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792809601075511063, + "ended_time_ns": 1792809601098532883 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.140:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792810126349135424, + "ended_time_ns": 1792810126365081977 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + 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time\nLast offset : -0.000001198 seconds\nRMS offset : 0.000001198 seconds\nFrequency : 7.007 ppm fast\nResidual freq : +3.298 ppm\nSkew : 8.746 ppm\nRoot delay : 0.066045709 seconds\nRoot dispersion : 0.068511866 seconds\nUpdate interval : 1.7 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792809601051425065, + "ended_time_ns": 1792809601056845287 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 02:40:00 2026", + "System time": "0.000000243 seconds fast of NTP time", + "Last offset": "-0.000001198 seconds", + "RMS offset": "0.000001198 seconds", + "Frequency": "7.007 ppm fast", + "Residual freq": "+3.298 ppm", + "Skew": "8.746 ppm", + "Root delay": "0.066045709 seconds", + "Root dispersion": "0.068511866 seconds", + "Update interval": "1.7 seconds", + "Leap status": "Normal", + "System time seconds": 2.43e-07, + "Last offset seconds": -1.198e-06, + "RMS offset seconds": 1.198e-06, + "Root delay seconds": 0.066045709, + "Root dispersion seconds": 0.068511866 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 95.111.202.5 2 6 7 2 +17ms[ -142us] +/- 35ms\n^- 162.159.200.123 3 6 17 1 +22ms[ +22ms] +/- 92ms\n^- 116.203.151.74 2 6 17 1 +9996us[+9995us] +/- 87ms\n^* 192.168.31.90 3 4 17 1 -607ns[-1805ns] +/- 101ms\n", + "stderr": "", + "started_time_ns": 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"DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822906219134205, + "ok": true, + "ended_time_ns": 1792822906219142168, + "duration_s": 7.963e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822906219143890, + "ok": true, + "ended_time_ns": 1792822906219146649, + "duration_s": 2.759e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822906219147094, + "ok": true, + "ended_time_ns": 1792822906219149964, + "duration_s": 2.87e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822906219150297, + "ok": true, + "ended_time_ns": 1792822906219324054, + "duration_s": 0.000173757 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822906219324962, + "ok": true, + "ended_time_ns": 1792822906219328369, + "duration_s": 3.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822906219328888, + "ok": true, + "ended_time_ns": 1792822906219331554, + "duration_s": 2.666e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822906219331888, + "ok": true, + "ended_time_ns": 1792822906219333980, + "duration_s": 2.092e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.140:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_142146_00050", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + 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1792822906219147094, + "ok": true, + "ended_time_ns": 1792822906219149964, + "duration_s": 2.87e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822906219150297, + "ok": true, + "ended_time_ns": 1792822906219324054, + "duration_s": 0.000173757 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822906219324962, + "ok": true, + "ended_time_ns": 1792822906219328369, + "duration_s": 3.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822906219328888, + "ok": true, + "ended_time_ns": 1792822906219331554, + "duration_s": 2.666e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822906219331888, + "ok": true, + "ended_time_ns": 1792822906219333980, + "duration_s": 2.092e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + 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5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 50, + "ready_token": "673478ffd42c4c3f98c739739928c358", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2189, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897949916488, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822906038354119, + "capture_count": 737, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.54406738245406, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 535, + "max_queue_depth": 535, + "read_count": 535, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822906048031248, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822906060426822 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822906004694517, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9076, + "displayed_count": 8825, + "dropped_count": 250, + "decode_error_count": 0, + "last_receive_time_ns": 1792822905918943930, + "last_frame_time_ns": 1792822905898014878, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897949916488, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822906038354119, + "capture_count": 737, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.54406738245406, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 535, + "max_queue_depth": 535, + "read_count": 535, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822906048031248, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822906060426822 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.140:8765/start", + "http_status": 200, + "started_time_ns": 1792822906233351169, + "ended_time_ns": 1792822906291511418 + }, + "pi_start_request_time_ns": 1792822906291521685, + "vive_pid": 2731270, + "vive_stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/control/stop_left_hand.flag", + "vive_start_time_ns": 1792822906295884519, + "capture_start_time_ns": 1792822909659801768, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822914250189810, + "capture_stop_time_ns": 1792822915237345659, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142146_00050", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142146_00050", + "--control-generation", + "50", + "--ready-token", + "673478ffd42c4c3f98c739739928c358", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822906236101125, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.diagnostics.json", + "capture_start_time_ns": 1792822909659801768, + "capture_stop_time_ns": 1792822915237345659, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/left_hand", + "timing": { + "server_start_request_time_ns": 1792822906231190728, + "subprocess_popen_time_ns": 1792822906236101125, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822906274388739, + "validate_start_time_ns": 1792822907188678157, + "session_dir_create_start_time_ns": 1792822906276158419, + "session_dir_create_end_time_ns": 1792822906277271571, + "as5600_init_start_time_ns": 1792822906279463949, + "as5600_init_end_time_ns": 1792822906280767098, + "as5600_zero_start_time_ns": 1792822906283860760, + "as5600_zero_end_time_ns": 1792822907089031610, + "camera_init_start_time_ns": 1792822907090466275, + "camera_init_end_time_ns": 1792822907092249325, + "camera_start_start_time_ns": 1792822907093069740, + "camera_start_end_time_ns": 1792822907094357816, + "camera_first_frame_wait_start_time_ns": 1792822907095663354, + "camera_first_frame_wait_end_time_ns": 1792822907096933948, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822907099940574, + "armed_time_ns": 1792822907186898330, + "waiting_t0_time_ns": 1792822907190345598, + "recording_start_time_ns": 1792822909660086343, + "stop_request_time_ns": 1792822914249435063, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822906219130335, + "ended_time_ns": 1792822906219334369, + "duration_s": 0.000204034, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822906219134205, + "ok": true, + "ended_time_ns": 1792822906219142168, + "duration_s": 7.963e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822906219143890, + "ok": true, + "ended_time_ns": 1792822906219146649, + "duration_s": 2.759e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822906219147094, + "ok": true, + "ended_time_ns": 1792822906219149964, + "duration_s": 2.87e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822906219150297, + "ok": true, + "ended_time_ns": 1792822906219324054, + "duration_s": 0.000173757 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822906219324962, + "ok": true, + "ended_time_ns": 1792822906219328369, + "duration_s": 3.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822906219328888, + "ok": true, + "ended_time_ns": 1792822906219331554, + "duration_s": 2.666e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822906219331888, + "ok": true, + "ended_time_ns": 1792822906219333980, + "duration_s": 2.092e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 50, + "ready_token": "673478ffd42c4c3f98c739739928c358", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.ready.json", + "arm_request_id": "c1a825677dd241788bfc9597280627a3", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2189, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "running", + "session_id": "session_20261024_142146_00050", + "generation": 50, + "session_count": 50, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897949916488, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822906263495534, + "capture_count": 746, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.54406738245406, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 548, + "max_queue_depth": 548, + "read_count": 548, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822906267022931, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822906270794806 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.140:8765/stop", + "http_status": 200, + "started_time_ns": 1792822914251372705, + "ended_time_ns": 1792822914265698174, + "capture_stop_time_ns": 1792822915237345659, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "vive_stop_file_created": true, + "vive_artifacts": { + "ok": true, + "session_id": "session_20261024_142146_00050", + "hands": { + "left_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 121559 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 121426 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/left_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 141688 + } + }, + "right_hand": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 122313 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + "size_bytes": 121426 + }, + "pc_metadata": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/pc_joint_metadata.json", + "exists": true, + "size_bytes": 129709 + } + } + } + }, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142146_00050", + "pid": 1106, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "left_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142146_00050", + "--control-generation", + "50", + "--ready-token", + "673478ffd42c4c3f98c739739928c358", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822916260726316, + "ended_time_ns": 1792822916277957011, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.diagnostics.json", + "capture_start_time_ns": 1792822909659801768, + "capture_stop_time_ns": 1792822915237345659, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/left_hand", + "timing": { + "server_start_request_time_ns": 1792822906231190728, + "subprocess_popen_time_ns": 1792822906236101125, + "process_entry_time_ns": 1789138075381682820, + "module_import_start_time_ns": 1789138075419298982, + "import_log_utils_start_time_ns": 1789138075419300778, + "import_log_utils_end_time_ns": 1789138075421472430, + "import_as5600_start_time_ns": 1789138075421473467, + "import_as5600_end_time_ns": 1789138075463093231, + "import_pi_session_start_time_ns": 1789138075463094768, + "import_pi_session_end_time_ns": 1789138075592079142, + "import_usb_camera_start_time_ns": 1789138075592080271, + "import_usb_camera_end_time_ns": 1789138075633717924, + "configure_stdio_start_time_ns": 1789138075691289817, + "configure_stdio_end_time_ns": 1789138075691587407, + "capture_entry_time_ns": 1792822906274388739, + "validate_start_time_ns": 1792822907188678157, + "session_dir_create_start_time_ns": 1792822906276158419, + "session_dir_create_end_time_ns": 1792822906277271571, + "as5600_init_start_time_ns": 1792822906279463949, + "as5600_init_end_time_ns": 1792822906280767098, + "as5600_zero_start_time_ns": 1792822906283860760, + "as5600_zero_end_time_ns": 1792822907089031610, + "camera_init_start_time_ns": 1792822907090466275, + "camera_init_end_time_ns": 1792822907092249325, + "camera_start_start_time_ns": 1792822907093069740, + "camera_start_end_time_ns": 1792822907094357816, + "camera_first_frame_wait_start_time_ns": 1792822907095663354, + "camera_first_frame_wait_end_time_ns": 1792822907096933948, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822907099940574, + "armed_time_ns": 1792822907186898330, + "waiting_t0_time_ns": 1792822907190345598, + "recording_start_time_ns": 1792822909660086343, + "stop_request_time_ns": 1792822914252239044, + "finalized_time_ns": 1792822915244409488 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822906219130335, + "ended_time_ns": 1792822906219334369, + "duration_s": 0.000204034, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822906219134205, + "ok": true, + "ended_time_ns": 1792822906219142168, + "duration_s": 7.963e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822906219143890, + "ok": true, + "ended_time_ns": 1792822906219146649, + "duration_s": 2.759e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822906219147094, + "ok": true, + "ended_time_ns": 1792822906219149964, + "duration_s": 2.87e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822906219150297, + "ok": true, + "ended_time_ns": 1792822906219324054, + "duration_s": 0.000173757 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822906219324962, + "ok": true, + "ended_time_ns": 1792822906219328369, + "duration_s": 3.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822906219328888, + "ok": true, + "ended_time_ns": 1792822906219331554, + "duration_s": 2.666e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822906219331888, + "ok": true, + "ended_time_ns": 1792822906219333980, + "duration_s": 2.092e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 50, + "ready_token": "673478ffd42c4c3f98c739739928c358", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.ready.json", + "arm_request_id": "c1a825677dd241788bfc9597280627a3", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2189, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142146_00050", + "generation": 50, + "session_count": 50, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 50, + "last_bootstrap_time_ns": 1792822916052070138, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822916032110573, + "capture_count": 358, + "capture_error_count": 0, + "writer_count": 224, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + 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0000000000000000000000000000000000000000..9f8c1656ddd6a3a93d23444dbf1c9dba4160d1be --- /dev/null +++ b/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/metadata.json @@ -0,0 +1,343 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "raspberry_pi_capture", + "created_time_ns": 1792822915249101630, + "platform": { + "system": "Linux", + "release": "6.12.75+rpt-rpi-2712", + "machine": "aarch64" + }, + "paths": { + "run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/right_hand", + "rgb_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/right_hand/RGB_Images", + "clamp_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Clamp_Data", + "metadata_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Metadata", + "video_path": "/home/zhang/teleumi-v2/datasets/stack the 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"AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 334, + "clamp_first_sample_time_ns": 1792822909675460495, + "clamp_last_sample_time_ns": 1792822915225454044, + "clamp_actual_hz": 60.000069740621605, + "clamp_value_min": 48.75638046562354, + "clamp_value_max": 100.0, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 548, + "read_count": 1858, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1449 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/pc_joint_metadata.json b/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/pc_joint_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..705dce32e895cb754bf64b078561f7ff03a0fd6a --- /dev/null +++ b/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/pc_joint_metadata.json @@ -0,0 +1,3897 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_pc_joint_capture_auto_manual_stop", + "created_time_ns": 1792822906168268151, + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand", + "session_id": "session_20261024_142146_00050", + "paths": { + "pc_session_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050", + "pc_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand", + "vive_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050", + "vive_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "pc_metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/pc_joint_metadata.json", + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "pi_data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050", + "pi_expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/right_hand", + "pc_pi_data_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets", + "pc_expected_pi_data_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050", + "pc_expected_pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand" + }, + "config": { + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "mode": "PC 自动单条联采，终端按 Enter 结束本条", + "manual_stop": true, + "pi_only": true, + "safety_max_seconds": 180.0, + "max_seconds": 180.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "pi_host": "192.168.31.244", + "pi_port": 8765, + "pi_base_url": "http://192.168.31.244:8765", + "sensor_hz": 60.0, + "loop_hz": 200.0, + "camera_type": "csi", + "pc_time_server_ip": "192.168.31.90", + "require_time_sync": true, + "initial_ntp_required": true, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "pi_data_root": "/home/zhang/teleumi-v2/datasets", + "task_name": "stack the blocks", + "hand_mode": "dual", + "hand_name": "right_hand" + }, + "result": { + "pi_status_before": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142126_00049", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142126_00049", + "--control-generation", + "49", + "--ready-token", + "6939ad7f9caa41ada989b4a1ea70b904", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822906168766291, + "ended_time_ns": 1792822906221548260, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.diagnostics.json", + "capture_start_time_ns": 1792822890238455979, + "capture_stop_time_ns": 1792822897133107478, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142126_00049/right_hand", + "timing": { + "server_start_request_time_ns": 1792822886864193424, + "subprocess_popen_time_ns": 1792822886869081214, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822886877784766, + "validate_start_time_ns": 1792822887770716856, + "session_dir_create_start_time_ns": 1792822886878601814, + "session_dir_create_end_time_ns": 1792822886879566583, + "as5600_init_start_time_ns": 1792822886880556556, + "as5600_init_end_time_ns": 1792822886881458178, + "as5600_zero_start_time_ns": 1792822886883194533, + "as5600_zero_end_time_ns": 1792822887688197275, + "camera_init_start_time_ns": 1792822887689868946, + "camera_init_end_time_ns": 1792822887692020371, + "camera_start_start_time_ns": 1792822887694925790, + "camera_start_end_time_ns": 1792822887696990197, + "camera_first_frame_wait_start_time_ns": 1792822887698860458, + "camera_first_frame_wait_end_time_ns": 1792822887700488351, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822887702584592, + "armed_time_ns": 1792822887768882594, + "waiting_t0_time_ns": 1792822887772778430, + "recording_start_time_ns": 1792822890244055602, + "stop_request_time_ns": 1792822896144308219, + "finalized_time_ns": 1792822897142312930 + }, + "warmup": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822905952238632, + "ended_time_ns": 1792822905953291900, + "duration_s": 0.001053268, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822905952323483, + "ended_time_ns": 1792822905952531333, + "duration_s": 0.00020785, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822905952327039, + "ok": true, + "ended_time_ns": 1792822905952334076, + "duration_s": 7.037e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822905952335131, + "ok": true, + "ended_time_ns": 1792822905952338502, + "duration_s": 3.371e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822905952338964, + "ok": true, + "ended_time_ns": 1792822905952341946, + "duration_s": 2.982e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822905952342316, + "ok": true, + "ended_time_ns": 1792822905952521259, + "duration_s": 0.000178943 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822905952522296, + "ok": true, + "ended_time_ns": 1792822905952525778, + "duration_s": 3.482e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822905952526333, + "ok": true, + "ended_time_ns": 1792822905952528796, + "duration_s": 2.463e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822905952529204, + "ok": true, + "ended_time_ns": 1792822905952530833, + "duration_s": 1.629e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822905953136365, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822905735268322, + "frame_age_s": 0.217903246, + "heartbeat_age_s": 0.203734057, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822905953175531, + "duration_s": 3.9166e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822905953177087, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 275.9783935540137, + "sample_observed_time_ns": 1792822905742128835, + "sample_age_s": 0.211055289, + "heartbeat_age_s": 0.20375915, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822905953187216, + "duration_s": 1.0129e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "started_time_ns": 1792822905953188198, + "skipped": true, + "reason": "本次采集关闭小屏预览，跳过预览窗口检查。", + "ended_time_ns": 1792822905953190624, + "duration_s": 2.426e-06 + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822905953191605, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822905953290567, + "duration_s": 9.8962e-05 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 49, + "ready_token": "6939ad7f9caa41ada989b4a1ea70b904", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142126_00049.ready.json", + "arm_request_id": "b3b702e38ad3452a8407fc2718b61b23", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3016, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897146583373, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822905735268322, + "capture_count": 723, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.9783935540137, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 517, + "max_queue_depth": 517, + "read_count": 1288, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822905742128835, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822905749420622 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822905551824103, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8594, + "displayed_count": 6651, + "dropped_count": 1941, + "decode_error_count": 0, + "last_receive_time_ns": 1792822905521911980, + "last_frame_time_ns": 1792822905416196107, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897146583373, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822905735268322, + "capture_count": 723, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.9783935540137, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 517, + "max_queue_depth": 517, + "read_count": 1288, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822905742128835, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822905749420622 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "worker_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342, + "configured": true, + "configure_result": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653095994408126, + "ended_time_ns": 1792653096113053119 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.667940532999978, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100761991117, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000095493 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020402959 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100761992653, + "ended_time_ns": 1792653100766027759 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000095493 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020402959 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.5493e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020402959 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100766030758, + "ended_time_ns": 1792653100768761636 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,769840290+08:00\n", + "stderr": "", + "started_time_ns": 1792653100768769006, + "ended_time_ns": 1792653100771056698 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792653100800072751, + "ended_time_ns": 1792653100824938394 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。", + "reused": true, + "url": "http://192.168.31.244:8765/time/configure", + "http_status": 200, + "started_time_ns": 1792654672657508143, + "ended_time_ns": 1792654672674915342 + }, + "snapshot_policy": "initial_ntp_once_then_chrony_stopped", + "capture_start": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "snapshot_source": "pi_initial_ntp_once", + "chrony_stopped": true, + "sync_scope": "worker_initial_capture_only" + }, + "capture_end": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000161103, + "last_offset_s": 0.000161103, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792653100781015576, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Thu Oct 22 07:11:39 2026\nSystem time : 0.000092436 seconds fast of NTP time\nLast offset : +0.000161103 seconds\nRMS offset : 0.000161103 seconds\nFrequency : 5.533 ppm fast\nResidual freq : -37.981 ppm\nSkew : 13.800 ppm\nRoot delay : 0.032555129 seconds\nRoot dispersion : 0.020403961 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792653100781016390, + "ended_time_ns": 1792653100785239464 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Thu Oct 22 07:11:39 2026", + "System time": "0.000092436 seconds fast of NTP time", + "Last offset": "+0.000161103 seconds", + "RMS offset": "0.000161103 seconds", + "Frequency": "5.533 ppm fast", + "Residual freq": "-37.981 ppm", + "Skew": "13.800 ppm", + "Root delay": "0.032555129 seconds", + "Root dispersion": "0.020403961 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 9.2436e-05, + "Last offset seconds": 0.000161103, + "RMS offset seconds": 0.000161103, + "Root delay seconds": 0.032555129, + "Root dispersion seconds": 0.020403961 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms\n", + "stderr": "", + "started_time_ns": 1792653100785242353, + "ended_time_ns": 1792653100786653155 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +89us[ +250us] +/- 36ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-22T15:11:40,787157571+08:00\n", + "stderr": "", + "started_time_ns": 1792653100786656154, + "ended_time_ns": 1792653100788323191 + }, + "snapshot_source": "initial_ntp_result_reused", + "sync_scope": "worker_initial_capture_only" + } + }, + "pi_warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822906224817481, + "ended_time_ns": 1792822906233069412, + "duration_s": 0.000208646, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822906227652292, + "ok": true, + "ended_time_ns": 1792822906227659829, + "duration_s": 7.537e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822906227661514, + "ok": true, + "ended_time_ns": 1792822906227664459, + "duration_s": 2.945e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822906227664884, + "ok": true, + "ended_time_ns": 1792822906227668088, + "duration_s": 3.204e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822906227668458, + "ok": true, + "ended_time_ns": 1792822906227847494, + "duration_s": 0.000179036 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822906227848531, + "ok": true, + "ended_time_ns": 1792822906227851698, + "duration_s": 3.167e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822906227852364, + "ok": true, + "ended_time_ns": 1792822906227855049, + "duration_s": 2.685e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822906227855420, + "ok": true, + "ended_time_ns": 1792822906227856901, + "duration_s": 1.481e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。", + "url": "http://192.168.31.244:8765/warmup", + "http_status": 200 + }, + "sync_mode": "deferred_arm", + "pi_start": { + "ok": true, + "persistent_worker_reused": true, + "status": { + "ok": true, + "state": "running", + "stage": "spawning", + "session_id": "session_20261024_142146_00050", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142146_00050", + "--control-generation", + "50", + "--ready-token", + "543b852a85ff4597bcd3ad0b27f8f0a8", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822906244960675, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.diagnostics.json", + "capture_start_time_ns": null, + "capture_stop_time_ns": null, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/right_hand", + "timing": { + "server_start_request_time_ns": 1792822906240208402, + "subprocess_popen_time_ns": 1792822906244960675, + "process_entry_time_ns": null, + "module_import_start_time_ns": null, + "import_log_utils_start_time_ns": null, + "import_log_utils_end_time_ns": null, + "import_as5600_start_time_ns": null, + "import_as5600_end_time_ns": null, + "import_pi_session_start_time_ns": null, + "import_pi_session_end_time_ns": null, + "import_usb_camera_start_time_ns": null, + "import_usb_camera_end_time_ns": null, + "configure_stdio_start_time_ns": null, + "configure_stdio_end_time_ns": null, + "capture_entry_time_ns": null, + "validate_start_time_ns": null, + "session_dir_create_start_time_ns": null, + "session_dir_create_end_time_ns": null, + "as5600_init_start_time_ns": null, + "as5600_init_end_time_ns": null, + "as5600_zero_start_time_ns": null, + "as5600_zero_end_time_ns": null, + "camera_init_start_time_ns": null, + "camera_init_end_time_ns": null, + "camera_start_start_time_ns": null, + "camera_start_end_time_ns": null, + "camera_first_frame_wait_start_time_ns": null, + "camera_first_frame_wait_end_time_ns": null, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": null, + "armed_time_ns": null, + "waiting_t0_time_ns": null, + "recording_start_time_ns": null, + "stop_request_time_ns": null, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822906227648718, + "ended_time_ns": 1792822906227857364, + "duration_s": 0.000208646, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822906227652292, + "ok": true, + "ended_time_ns": 1792822906227659829, + "duration_s": 7.537e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822906227661514, + "ok": true, + "ended_time_ns": 1792822906227664459, + "duration_s": 2.945e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822906227664884, + "ok": true, + "ended_time_ns": 1792822906227668088, + "duration_s": 3.204e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822906227668458, + "ok": true, + "ended_time_ns": 1792822906227847494, + "duration_s": 0.000179036 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822906227848531, + "ok": true, + "ended_time_ns": 1792822906227851698, + "duration_s": 3.167e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822906227852364, + "ok": true, + "ended_time_ns": 1792822906227855049, + "duration_s": 2.685e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822906227855420, + "ok": true, + "ended_time_ns": 1792822906227856901, + "duration_s": 1.481e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 50, + "ready_token": "543b852a85ff4597bcd3ad0b27f8f0a8", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.ready.json", + "arm_request_id": null, + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3017, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897146583373, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822905735268322, + "capture_count": 723, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.9783935540137, + "gripper_gap_mm": 85.0, + 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"idle", + "session_id": "session_20261024_142126_00049", + "generation": 49, + "session_count": 49, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897146583373, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822905735268322, + "capture_count": 723, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.9783935540137, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 517, + "max_queue_depth": 517, + "read_count": 1288, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822905742128835, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822905749420622 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json" + }, + "url": "http://192.168.31.244:8765/start", + "http_status": 200, + "started_time_ns": 1792822906236301776, + "ended_time_ns": 1792822906293142664 + }, + "pi_start_request_time_ns": 1792822906293151097, + "capture_start_time_ns": 1792822909659801768, + "stop_request_source": "ui_stop_file", + "manual_stop_time_ns": 1792822914424239166, + "capture_stop_time_ns": 1792822915237345659, + "scheduled_stop_delay_s": 1.0, + "pi_stop": { + "ok": true, + "idempotent": false, + "message": "已写入统一停止时间，采集进程将按本地系统时间停止", + "status": { + "ok": true, + "state": "running", + "stage": "stopping", + "session_id": "session_20261024_142146_00050", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142146_00050", + "--control-generation", + "50", + "--ready-token", + "543b852a85ff4597bcd3ad0b27f8f0a8", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822906244960675, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.diagnostics.json", + "capture_start_time_ns": 1792822909659801768, + "capture_stop_time_ns": 1792822915237345659, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/right_hand", + "timing": { + "server_start_request_time_ns": 1792822906240208402, + "subprocess_popen_time_ns": 1792822906244960675, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822906261014125, + "validate_start_time_ns": 1792822907195114700, + "session_dir_create_start_time_ns": 1792822906262672480, + "session_dir_create_end_time_ns": 1792822906263647953, + "as5600_init_start_time_ns": 1792822906264815054, + "as5600_init_end_time_ns": 1792822906265762360, + "as5600_zero_start_time_ns": 1792822906267132885, + "as5600_zero_end_time_ns": 1792822907071768483, + "camera_init_start_time_ns": 1792822907073561208, + "camera_init_end_time_ns": 1792822907077520784, + "camera_start_start_time_ns": 1792822907078445275, + "camera_start_end_time_ns": 1792822907080073372, + "camera_first_frame_wait_start_time_ns": 1792822907081860486, + "camera_first_frame_wait_end_time_ns": 1792822907083700636, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822907085388954, + "armed_time_ns": 1792822907194212949, + "waiting_t0_time_ns": 1792822907196624353, + "recording_start_time_ns": 1792822909660721812, + "stop_request_time_ns": 1792822914425558201, + "finalized_time_ns": null + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822906227648718, + "ended_time_ns": 1792822906227857364, + "duration_s": 0.000208646, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822906227652292, + "ok": true, + "ended_time_ns": 1792822906227659829, + "duration_s": 7.537e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822906227661514, + "ok": true, + "ended_time_ns": 1792822906227664459, + "duration_s": 2.945e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822906227664884, + "ok": true, + "ended_time_ns": 1792822906227668088, + "duration_s": 3.204e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822906227668458, + "ok": true, + "ended_time_ns": 1792822906227847494, + "duration_s": 0.000179036 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822906227848531, + "ok": true, + "ended_time_ns": 1792822906227851698, + "duration_s": 3.167e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822906227852364, + "ok": true, + "ended_time_ns": 1792822906227855049, + "duration_s": 2.685e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822906227855420, + "ok": true, + "ended_time_ns": 1792822906227856901, + "duration_s": 1.481e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 50, + "ready_token": "543b852a85ff4597bcd3ad0b27f8f0a8", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.ready.json", + "arm_request_id": "c1a825677dd241788bfc9597280627a3", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3017, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "running", + "session_id": "session_20261024_142146_00050", + "generation": 50, + "session_count": 50, + "control_request_id": null, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 49, + "last_bootstrap_time_ns": 1792822897146583373, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822906235100040, + "capture_count": 743, + "capture_error_count": 0, + "writer_count": 276, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 275.9783935540137, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 547, + "max_queue_depth": 547, + "read_count": 1318, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822906242134200, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822906256176964 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json" + }, + "url": "http://192.168.31.244:8765/stop", + "http_status": 200, + "started_time_ns": 1792822914424549905, + "ended_time_ns": 1792822914436646255, + "capture_stop_time_ns": 1792822915237345659, + "stop_attempts": 1, + "stop_time_recovered": false + }, + "stop_time_error": null, + "pi_final_status": { + "ok": true, + "state": "idle", + "stage": "idle", + "session_id": "session_20261024_142146_00050", + "pid": 1102, + "command": [ + "/usr/bin/python3", + "/home/zhang/TeleUMI/pi_capture.py", + "--data-dir", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050", + "--max-seconds", + "180", + "--sensor-hz", + "60", + "--as5600-queue-size", + "600", + "--loop-hz", + "200", + "--init-seconds", + "0.8", + "--camera-type", + "csi", + "--camera-device", + "0", + "--camera-width", + "1280", + "--camera-height", + "960", + "--camera-fps", + "40", + "--camera-controls-path", + "runtime/camera_tuning/active_camera_controls.json", + "--camera-fourcc", + "mp4v", + "--preview-fps", + "10", + "--preview-rotation", + "none", + "--open-angle-deg", + "45.791", + "--gripper-open-mm", + "85", + "--camera-first-frame-timeout", + "5", + "--tactile-config", + "./config/tactile.json", + "--hand-mode", + "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142146_00050", + "--control-generation", + "50", + "--ready-token", + "543b852a85ff4597bcd3ad0b27f8f0a8", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822915453481829, + "ended_time_ns": 1792822915467697476, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.stop", + "diagnostics_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.diagnostics.json", + "capture_start_time_ns": 1792822909659801768, + "capture_stop_time_ns": 1792822915237345659, + "data_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050", + "expected_run_dir": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142146_00050/right_hand", + "timing": { + "server_start_request_time_ns": 1792822906240208402, + "subprocess_popen_time_ns": 1792822906244960675, + "process_entry_time_ns": 1781523807487404620, + "module_import_start_time_ns": 1781523807537520375, + "import_log_utils_start_time_ns": 1781523807537521856, + "import_log_utils_end_time_ns": 1781523807539638378, + "import_as5600_start_time_ns": 1781523807539639323, + "import_as5600_end_time_ns": 1781523807577323332, + "import_pi_session_start_time_ns": 1781523807577324925, + "import_pi_session_end_time_ns": 1781523807659944282, + "import_usb_camera_start_time_ns": 1781523807659945522, + "import_usb_camera_end_time_ns": 1781523807712374279, + "configure_stdio_start_time_ns": 1781523807757909918, + "configure_stdio_end_time_ns": 1781523807758200138, + "capture_entry_time_ns": 1792822906261014125, + "validate_start_time_ns": 1792822907195114700, + "session_dir_create_start_time_ns": 1792822906262672480, + "session_dir_create_end_time_ns": 1792822906263647953, + "as5600_init_start_time_ns": 1792822906264815054, + "as5600_init_end_time_ns": 1792822906265762360, + "as5600_zero_start_time_ns": 1792822906267132885, + "as5600_zero_end_time_ns": 1792822907071768483, + "camera_init_start_time_ns": 1792822907073561208, + "camera_init_end_time_ns": 1792822907077520784, + "camera_start_start_time_ns": 1792822907078445275, + "camera_start_end_time_ns": 1792822907080073372, + "camera_first_frame_wait_start_time_ns": 1792822907081860486, + "camera_first_frame_wait_end_time_ns": 1792822907083700636, + "tactile_init_start_time_ns": null, + "tactile_init_end_time_ns": null, + "ready_time_ns": 1792822907085388954, + "armed_time_ns": 1792822907194212949, + "waiting_t0_time_ns": 1792822907196624353, + "recording_start_time_ns": 1792822909660721812, + "stop_request_time_ns": 1792822914429753552, + "finalized_time_ns": 1792822915247969751 + }, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822906227648718, + "ended_time_ns": 1792822906227857364, + "duration_s": 0.000208646, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822906227652292, + "ok": true, + "ended_time_ns": 1792822906227659829, + "duration_s": 7.537e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822906227661514, + "ok": true, + "ended_time_ns": 1792822906227664459, + "duration_s": 2.945e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822906227664884, + "ok": true, + "ended_time_ns": 1792822906227668088, + "duration_s": 3.204e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822906227668458, + "ok": true, + "ended_time_ns": 1792822906227847494, + "duration_s": 0.000179036 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822906227848531, + "ok": true, + "ended_time_ns": 1792822906227851698, + "duration_s": 3.167e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822906227852364, + "ok": true, + "ended_time_ns": 1792822906227855049, + "duration_s": 2.685e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822906227855420, + "ok": true, + "ended_time_ns": 1792822906227856901, + "duration_s": 1.481e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039883325654, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000266975 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013693557 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039883328248, + "ended_time_ns": 1792822039889668636 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000266975 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,891632490+08:00\n", + "stderr": "", + "started_time_ns": 1792822039891097665, + "ended_time_ns": 1792822039892804222 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 50, + "ready_token": "543b852a85ff4597bcd3ad0b27f8f0a8", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.ready.json", + "arm_request_id": "c1a825677dd241788bfc9597280627a3", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3017, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142146_00050", + "generation": 50, + "session_count": 50, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 50, + "last_bootstrap_time_ns": 1792822915249845938, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822915254554211, + "capture_count": 328, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.3145751959863, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 548, + "read_count": 1858, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822915242136322, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822915254783006 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822915397905510, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8679, + "displayed_count": 6709, + "dropped_count": 1969, + "decode_error_count": 0, + "last_receive_time_ns": 1792822915324578255, + "last_frame_time_ns": 1792822915397802233, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142146_00050", + "generation": 50, + "session_count": 50, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 50, + "last_bootstrap_time_ns": 1792822915249845938, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822915254554211, + "capture_count": 328, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.3145751959863, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 1, + "max_queue_depth": 548, + "read_count": 1858, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822915242136322, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822915254783006 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200, + "status_poll_attempts": 2 + }, + "final_ok": true + }, + "updated_time_ns": 1792822915470703190 +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/pc_metadata.json b/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/pc_metadata.json new file mode 100644 index 0000000000000000000000000000000000000000..229787d5297973648f4d82996ad8e4f1eeefbbf7 --- /dev/null +++ b/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/pc_metadata.json @@ -0,0 +1,101 @@ +{ + "project": "Tele-UMI", + "version": "v2", + "role": "windows_vive_dual_capture", + "created_time_ns": 1792822906299753054, + "platform": { + "system": "Linux", + "release": "5.15.0-139-generic", + "machine": "x86_64" + }, + "paths": { + "run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand", + "merged_trajectory_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Merged_Trajectory", + "metadata_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Metadata", + "vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Merged_Trajectory/merged_trajectory.txt", + "raw_vive_txt_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Merged_Trajectory/merged_trajectory.txt.part", + "raw_vive_txt_tmp_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Merged_Trajectory/raw_vive_pose.txt.part", + "metadata_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Metadata/pc_metadata.json" + }, + "config": { + "hand_name": "right_hand", + "tracker_index": null, + "tracker_indices": [ + null, + null + ], + "tracker_serial": "LHR-F47559F6", + "tracker_serials": [ + "LHR-26B06EF4", + "LHR-F47559F6" + ], + "vive_hz": 200.0, + "max_seconds": 180.0, + "stop_file": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/control/stop_left_hand.flag", + "sync_mode": "deferred_arm", + "capture_clock": "wall_clock", + "capture_start_time_ns": 1792822909659801768, + "capture_stop_time_ns": 1792822915237345659, + "effective_capture_stop_time_ns": 1792822915237345659, + "capture_start_guard_s": 0.5, + "bias_mode": "first_sample_at_or_after_t0", + "output_format": "timestamp x y z qx qy qz qw", + "raw_output_format": "timestamp x y z qx qy qz qw", + "raw_vive_pose_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "coordinate_processing": "记录段首样本零点扣除、第二版位姿统一变换矩阵和四元数连续化", + "openvr_query_mode": "single_process_single_query_dual_tracker", + "tracker_index_used": 2, + "tracker_serial_used": "LHR-F47559F6", + "vive_bias": { + "x0": 0.08441610634326935, + "y0": -0.7427785396575928, + "z0": -1.0196150541305542, + "qx0": 0.11078274313899072, + "qy0": 0.6646284900678727, + "qz0": -0.09975929294659852, + "qw0": 0.7321504199845102 + }, + "zero_reference_sample_ns": 1792822909667807765 + }, + "data_mark": "FORMAL", + "test_artifact": false, + "result": { + "sample_count": 1114, + "invalid_reads": 0, + "disconnected_reads": 0, + "invalid_pose_reads": 0, + "recording_disconnected_reads": 0, + "recording_invalid_pose_reads": 0, + "started_time_ns": 1792822909662666027, + "effective_record_start_time_ns": 1792822909662666027, + "stopped_time_ns": 1792822915237752058, + "effective_capture_stop_time_ns": 1792822915237345659, + "first_sample_time_ns": 1792822909667807765, + "last_sample_time_ns": 1792822915232575306, + "sample_duration_s": 5.564767541, + "sample_timestamp_hz": 200.0083546706412, + "artifacts": { + "trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Merged_Trajectory/merged_trajectory.txt", + "exists": true, + "size_bytes": 122313 + }, + "raw_trajectory": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142146_00050/right_hand/Merged_Trajectory/raw_vive_pose.txt", + "exists": true, + 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null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822906219134205, + "ok": true, + "ended_time_ns": 1792822906219142168, + "duration_s": 7.963e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822906219143890, + "ok": true, + "ended_time_ns": 1792822906219146649, + "duration_s": 2.759e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822906219147094, + "ok": true, + "ended_time_ns": 1792822906219149964, + "duration_s": 2.87e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822906219150297, + "ok": true, + "ended_time_ns": 1792822906219324054, + "duration_s": 0.000173757 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822906219324962, + "ok": true, + "ended_time_ns": 1792822906219328369, + "duration_s": 3.407e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822906219328888, + "ok": true, + "ended_time_ns": 1792822906219331554, + "duration_s": 2.666e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822906219331888, + "ok": true, + "ended_time_ns": 1792822906219333980, + "duration_s": 2.092e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "initial_time_sync": { + "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822027475679168, + "ended_time_ns": 1792822027893990801 + } + }, + "wait": { + "ok": true, + "attempts": 11, + "waited_s": 5.181866603000003, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033051279034, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001370565 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013690888 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033051280592, + "ended_time_ns": 1792822033055200626 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001370565 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013690888 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001370565, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013690888 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033055205005, + "ended_time_ns": 1792822033057441168 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,058668923+08:00\n", + "stderr": "", + "started_time_ns": 1792822033057451205, + "ended_time_ns": 1792822033059131402 + } + }, + "error": null + }, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822033094297851, + "ended_time_ns": 1792822033117603736 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 50, + "ready_token": "673478ffd42c4c3f98c739739928c358", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.ready.json", + "arm_request_id": "c1a825677dd241788bfc9597280627a3", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1789138075281501355, + "worker_session_count": 2189, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142146_00050", + "generation": 50, + "session_count": 50, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 50, + "last_bootstrap_time_ns": 1792822916052070138, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822917056382159, + "capture_count": 399, + "capture_error_count": 0, + "writer_count": 224, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.77844237977114, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 109, + "max_queue_depth": 109, + "read_count": 109, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822917050149391, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822917065112671 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1735, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821853180712052, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 8, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822916730592766, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 9170, + "displayed_count": 8914, + "dropped_count": 255, + "decode_error_count": 0, + "last_receive_time_ns": 1792822916641864793, + "last_frame_time_ns": 1792822916636350238, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1106, + "worker_state": "idle", + "session_id": "session_20261024_142146_00050", + "generation": 50, + "session_count": 50, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1789138075693458616, + "session_count": 50, + "last_bootstrap_time_ns": 1792822916052070138, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821838189512529, + "stream_last_frame_time_ns": 1792822917056382159, + "capture_count": 399, + "capture_error_count": 0, + "writer_count": 224, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 104.77844237977114, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 109, + "max_queue_depth": 109, + "read_count": 109, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822917050149391, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822917065112671 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1106, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "left_pi_01", + "vive_tracker_serial": "LHR-26B06EF4" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.140:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.140" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.001853765, + "last_offset_s": -0.001853765, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822033075883656, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:11 2026\nSystem time : 0.001323681 seconds slow of NTP time\nLast offset : -0.001853765 seconds\nRMS offset : 0.001853765 seconds\nFrequency : 13.457 ppm fast\nResidual freq : -117.254 ppm\nSkew : 9.846 ppm\nRoot delay : 0.036569357 seconds\nRoot dispersion : 0.013694127 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822033075884658, + "ended_time_ns": 1792822033082941528 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:11 2026", + "System time": "0.001323681 seconds slow of NTP time", + "Last offset": "-0.001853765 seconds", + "RMS offset": "0.001853765 seconds", + "Frequency": "13.457 ppm fast", + "Residual freq": "-117.254 ppm", + "Skew": "9.846 ppm", + "Root delay": "0.036569357 seconds", + "Root dispersion": "0.013694127 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.001323681, + "Last offset seconds": -0.001853765, + "RMS offset seconds": 0.001853765, + "Root delay seconds": 0.036569357, + "Root dispersion seconds": 0.013694127 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms\n^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms\n^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms\n^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822033082949988, + "ended_time_ns": 1792822033084704526 + }, + "sources_parsed": { + "sources": [ + { + "state": "^-", + "name": "5.79.108.34", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 5.79.108.34 2 6 7 1 +231us[-1623us] +/- 115ms" + }, + { + "state": "^-", + "name": "139.199.215.251", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 139.199.215.251 2 6 7 1 +865us[ -989us] +/- 34ms" + }, + { + "state": "^-", + "name": "111.230.189.174", + "selected": false, + "reachable": true, + "stratum": "2", + "poll": "6", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^- 111.230.189.174 2 6 7 1 -137us[-1991us] +/- 61ms" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "1", + "line": "^* 192.168.31.90 3 4 7 1 +46us[-1808us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:13,085265705+08:00\n", + "stderr": "", + "started_time_ns": 1792822033084707902, + "ended_time_ns": 1792822033085367892 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822917494445433, + "ended_time_ns": 1792822917506254253, + "duration_s": 0.0010743, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822917494528781, + "ended_time_ns": 1792822917494733168, + "duration_s": 0.000204387, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822917494532078, + "ok": true, + "ended_time_ns": 1792822917494539966, + "duration_s": 7.888e-06 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822917494540911, + "ok": true, + "ended_time_ns": 1792822917494543485, + "duration_s": 2.574e-06 + }, + { + "name": "import_pil", + "started_time_ns": 1792822917494544003, + "ok": true, + "ended_time_ns": 1792822917494547022, + "duration_s": 3.019e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822917494547392, + "ok": true, + "ended_time_ns": 1792822917494722742, + "duration_s": 0.00017535 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822917494723853, + "ok": true, + "ended_time_ns": 1792822917494727001, + "duration_s": 3.148e-06 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822917494727556, + "ok": true, + "ended_time_ns": 1792822917494730316, + "duration_s": 2.76e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822917494730686, + "ok": true, + "ended_time_ns": 1792822917494732779, + "duration_s": 2.093e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822917495360604, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822917056382159, + 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"duration_s": 0.000114387 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.140:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822917506262503, + "ended_time_ns": 1792822917598676347, + "stdout": "{\"ok\": true, \"tracker_index\": 1, \"tracker_serial\": \"LHR-26B06EF4\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 1, + "tracker_serial": "LHR-26B06EF4", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + }, + "right_hand": { + "hand_name": "right_hand", + "pi_host": "192.168.31.244", + "pi_port": 8765, + "tracker_index": 2, + "tracker_serial": 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+ "dual", + "--hand-name", + "right_hand", + "--stop-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.stop", + "--diagnostics-state-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.diagnostics.json", + "--arm-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.arm.json", + "--ready-file", + "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.ready.json", + "--arm-timeout-s", + "90", + "--control-session-id", + "session_20261024_142146_00050", + "--control-generation", + "50", + "--ready-token", + "543b852a85ff4597bcd3ad0b27f8f0a8", + "--preview", + "--allow-as5600-status-warning" + ], + "started_time_ns": 1792822917598690079, + "ended_time_ns": 1792822917616047411, + "returncode": 0, + "last_error": null, + "log_path": "/home/zhang/TeleUMI/runtime/pi_capture_logs/pi_capture_worker.log", + "stop_file_path": 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+ "ok": true, + "pc_time_server_ip": "192.168.31.90", + "method": "sudo_helper", + "helper_result": { + "ok": true, + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-configure-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-configure-chrony", + "192.168.31.90" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822035108451617, + "ended_time_ns": 1792822035235122063 + } + }, + "wait": { + "ok": true, + "attempts": 10, + "waited_s": 4.66747435000002, + "timeout_s": 8.0, + "poll_interval_s": 0.5, + "status": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + 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"-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013693557 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000266975, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013693557 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039889672230, + "ended_time_ns": 1792822039891095090 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", 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"returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + } + }, + "manual_commands": [ + "sudo /usr/local/sbin/teleumi-configure-chrony 192.168.31.90", + "sudo cp /etc/chrony/chrony.conf /etc/chrony/chrony.conf.teleumi.bak", + "sudo python3 -c 'from pathlib import Path\\np=Path(\"/etc/chrony/chrony.conf\")\\ntext=p.read_text(encoding=\"utf-8\")\\nbegin=\"# BEGIN Tele-UMI PC time source\"\\nend=\"# END Tele-UMI PC time source\"\\nblock=\"\"\"# BEGIN Tele-UMI PC time source\nserver 192.168.31.90 iburst prefer minpoll 4 maxpoll 4\n# END Tele-UMI PC time source\"\"\"\\nif begin in text and end in text:\\n before=text.split(begin,1)[0].rstrip()\\n after=text.split(end,1)[1].lstrip()\\n text=before+\"\\n\"+block+\"\\n\"+after\\nelse:\\n text=text.rstrip()+\"\\n\\n\"+block+\"\\n\"\\np.write_text(text, encoding=\"utf-8\")'", + "sudo systemctl restart chrony", + "chronyc makestep", + "chronyc waitsync 16 0.005 0.0 0.5", + "chronyc -n sources -v && chronyc tracking" + ], + "error": null, + "pc_timezone": null, + "timezone_configure": { + "ok": true, + "skipped": true, + "timezone": "Asia/Shanghai" + }, + "chrony_stopped": true, + "chrony_stop_result": { + "ok": true, + "action": "pause", + "method": "sudo_helper", + "helper_path": "/usr/local/sbin/teleumi-control-chrony", + "command": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-control-chrony", + "pause" + ], + "returncode": 0, + "stdout": "", + "stderr": "", + "started_time_ns": 1792822039921200741, + "ended_time_ns": 1792822039945934644 + }, + "error": null + }, + "sync_scope": "service_initial_capture_only", + "policy": "首次采集前执行一次 NTP 校时；成功后停止 chronyd，后续连续采集不再监控或调整系统墙钟。" + }, + "deferred_arm": true, + "generation": 50, + "ready_token": "543b852a85ff4597bcd3ad0b27f8f0a8", + "arm_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.arm.json", + "ready_file_path": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142146_00050.ready.json", + "arm_request_id": "c1a825677dd241788bfc9597280627a3", + "data_plane_mode": "persistent", + "worker_alive": true, + "worker_started_time_ns": 1781523807440408010, + "worker_session_count": 3017, + "time_sync_initialized": true, + "worker_status": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142146_00050", + "generation": 50, + "session_count": 50, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 50, + "last_bootstrap_time_ns": 1792822915249845938, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822917262092585, + "capture_count": 408, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.3145751959863, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 122, + "max_queue_depth": 548, + "read_count": 1979, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822917258817596, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822917275066488 + }, + "state_path": "/home/zhang/TeleUMI/runtime/pi_capture_server_state.json", + "standby_preview": { + "enabled": true, + "state": "running", + "paused": false, + "pid": 1759, + "camera_type": "csi", + "camera_device": "0", + "camera_fps": 40.0, + "preview_fps": 10.0, + "standby_capture_fps": 10.0, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_gap_mm": null, + "gripper_gap_text": null, + "gripper_status_ok": null, + "gripper_reference_angle_deg": null, + "gripper_updated_time_ns": null, + "gripper_error": null, + "disk_free_text": null, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5, + "desktop_mode": false, + "desktop_trigger": null, + "desktop_input_devices": [], + "window_visible": true, + "started_time_ns": 1792821913714887843, + "ended_time_ns": null, + "returncode": null, + "last_error": null, + "restart_count": 11, + "log_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview.log", + "state_path": "/home/zhang/TeleUMI/runtime/pi_standby_preview_state.json", + "camera_state": "running", + "camera_error": null, + "camera_updated_time_ns": 1792822916545844108, + "preview_socket": "/home/zhang/TeleUMI/runtime/pi_preview.sock", + "shared_window": true, + "consumer_only": true, + "frame_source": "persistent_pi_worker", + "preview_transport": { + "received_count": 8690, + "displayed_count": 6716, + "dropped_count": 1972, + "decode_error_count": 0, + "last_receive_time_ns": 1792822916543126262, + "last_frame_time_ns": 1792822916421175088, + "last_error": null + } + }, + "persistent_worker": { + "worker_pid": 1102, + "worker_state": "idle", + "session_id": "session_20261024_142146_00050", + "generation": 50, + "session_count": 50, + "control_request_id": null, + "returncode": 0, + "error": null, + "hardware_ready": true, + "runtime": { + "owner": "persistent_pi_worker", + "started_time_ns": 1781523807760003514, + "session_count": 50, + "last_bootstrap_time_ns": 1792822915249845938, + "bootstrap_errors": {}, + "camera": { + "configured": true, + "ready": true, + "type": "csi", + "device": "0", + "width": 1280, + "height": 960, + "fps": 40.0, + "fourcc": "mp4v", + "running": true, + "session_open": false, + "stream_first_frame_time_ns": 1792821892880721174, + "stream_last_frame_time_ns": 1792822917262092585, + "capture_count": 408, + "capture_error_count": 0, + "writer_count": 223, + "last_capture_error": null, + "camera_encoder": "opencv_video_writer", + "camera_rotation": "180", + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_model": "ov5647", + "camera_profile": null, + "applied_camera_controls": { + "AeEnable": false, + "AwbEnable": false, + "Brightness": -0.05, + "Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + }, + "frame_fresh": true + }, + "sensor": { + "configured": true, + "ready": true, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_angle_deg": 279.3145751959863, + "gripper_gap_mm": 85.0, + "status_ok": true, + "queue_size": 600, + "queue_depth": 122, + "max_queue_depth": 548, + "read_count": 1979, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null, + "updated_time_ns": 1792822917258817596, + "sample_fresh": true + }, + "hardware_ready": true + }, + "updated_time_ns": 1792822917275066488 + }, + "worker_supervisor": { + "state": "running", + "restart_count": 1, + "worker_pid": 1102, + "hardware_owner": "persistent_pi_worker" + }, + "camera_owner": "persistent_pi_worker", + "device_binding": { + "device_id": "right_pi_01", + "vive_tracker_serial": "LHR-F47559F6" + }, + "config_source": "/home/zhang/TeleUMI/config/teleumi_config.json", + "url": "http://192.168.31.244:8765/status", + "http_status": 200 + }, + "time_sync": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ], + "pc_time_server_ip": "192.168.31.90", + "pc_chrony_allow": { + "ok": true, + "subnet": "192.168.31.0/24", + "temporary": true, + "before": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "allow": { + "cmd": [ + "chronyc", + "allow", + "192.168.31.0/24" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "helper": { + "cmd": [ + "sudo", + "-n", + "/usr/local/sbin/teleumi-allow-chrony-subnet", + "192.168.31.0/24" + ], + "returncode": 0, + "stdout": "200 OK\n", + "stderr": "" + }, + "after": { + "cmd": [ + "chronyc", + "accheck", + "192.168.31.244" + ], + "returncode": 1, + "stdout": "501 Not authorised\n", + "stderr": "" + }, + "verified_by": "sudo_helper", + "verification_warning": "helper 已返回成功；普通用户 chronyc accheck 无权限复核。", + "manual_commands": [ + "cd '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master'", + "RUN_USER=$(id -un) bash tools/pc_service/install_pc_chrony_helper.sh" + ], + "error": null + }, + "auto_configured": false, + "before": { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true, + "attempt": 1, + "attempts": 1, + "history": [ + { + "ok": true, + "expected_source": "192.168.31.90", + "synchronized": true, + "expected_source_ok": true, + "expected_source_selected": true, + "timezone": "Asia/Shanghai", + "expected_timezone": null, + "expected_timezone_ok": true, + "error": null, + "leap_status": "Normal", + "rms_offset_s": 0.000444101, + "last_offset_s": -0.000444101, + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "rms_offset_ok": true, + "last_offset_ok": true, + "offset_threshold_ok": true, + "date_time_ns": 1792822039902622623, + "tracking": { + "cmd": [ + "chronyc", + "tracking" + ], + "returncode": 0, + "stdout": "Reference ID : C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)\nStratum : 4\nRef time (UTC) : Sat Oct 24 06:07:18 2026\nSystem time : 0.000259189 seconds slow of NTP time\nLast offset : -0.000444101 seconds\nRMS offset : 0.000444101 seconds\nFrequency : 8.899 ppm fast\nResidual freq : -60.216 ppm\nSkew : 7.674 ppm\nRoot delay : 0.037248541 seconds\nRoot dispersion : 0.013694765 seconds\nUpdate interval : 0.0 seconds\nLeap status : Normal\n", + "stderr": "", + "started_time_ns": 1792822039902623456, + "ended_time_ns": 1792822039906918010 + }, + "tracking_parsed": { + "Reference ID": "C0A81F5A (striving-ThinkCentre-neo-P900cIRR-35)", + "Stratum": "4", + "Ref time (UTC)": "Sat Oct 24 06:07:18 2026", + "System time": "0.000259189 seconds slow of NTP time", + "Last offset": "-0.000444101 seconds", + "RMS offset": "0.000444101 seconds", + "Frequency": "8.899 ppm fast", + "Residual freq": "-60.216 ppm", + "Skew": "7.674 ppm", + "Root delay": "0.037248541 seconds", + "Root dispersion": "0.013694765 seconds", + "Update interval": "0.0 seconds", + "Leap status": "Normal", + "System time seconds": 0.000259189, + "Last offset seconds": -0.000444101, + "RMS offset seconds": 0.000444101, + "Root delay seconds": 0.037248541, + "Root dispersion seconds": 0.013694765 + }, + "sources": { + "cmd": [ + "chronyc", + "-n", + "sources", + "-v" + ], + "returncode": 0, + "stdout": "\n .-- Source mode '^' = server, '=' = peer, '#' = local clock.\n / .- Source state '*' = current best, '+' = combined, '-' = not combined,\n| / 'x' = may be in error, '~' = too variable, '?' = unusable.\n|| .- xxxx [ yyyy ] +/- zzzz\n|| Reachability register (octal) -. | xxxx = adjusted offset,\n|| Log2(Polling interval) --. | | yyyy = measured offset,\n|| \\ | | zzzz = estimated error.\n|| | | \\\nMS Name/IP address Stratum Poll Reach LastRx Last sample \n===============================================================================\n^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns\n^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms\n", + "stderr": "", + "started_time_ns": 1792822039906923030, + "ended_time_ns": 1792822039908825117 + }, + "sources_parsed": { + "sources": [ + { + "state": "^?", + "name": "192.168.152.194", + "selected": false, + "reachable": false, + "stratum": "0", + "poll": "6", + "reach": "0", + "reach_value": 0, + "last_rx": "-", + "line": "^? 192.168.152.194 0 6 0 - +0ns[ +0ns] +/- 0ns" + }, + { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + ], + "expected_source": { + "state": "^*", + "name": "192.168.31.90", + "selected": true, + "reachable": true, + "stratum": "3", + "poll": "4", + "reach": "7", + "reach_value": 7, + "last_rx": "0", + "line": "^* 192.168.31.90 3 4 7 0 +54us[ -390us] +/- 32ms" + } + }, + "date": { + "cmd": [ + "date", + "--iso-8601=ns" + ], + "returncode": 0, + "stdout": "2026-10-24T14:07:19,909381970+08:00\n", + "stderr": "", + "started_time_ns": 1792822039908828230, + "ended_time_ns": 1792822039909496409 + }, + "initial_ntp_completed": true, + "chrony_stopped": true, + "sync_scope": "service_initial_capture_only", + "online": true + } + ] + } + }, + "preflight": { + "ok": true, + "role": "pi_capture_device_preflight", + "started_time_ns": 1792822917648246001, + "ended_time_ns": 1792822917660601285, + "duration_s": 0.001908983, + "warmup": { + "ok": true, + "role": "pi_capture_dependency_warmup", + "started_time_ns": 1792822917651366324, + "ended_time_ns": 1792822917652079707, + "duration_s": 0.000713383, + "environment": { + "XDG_RUNTIME_DIR": null, + "WAYLAND_DISPLAY": null, + "DISPLAY": null, + "DBUS_SESSION_BUS_ADDRESS": null, + "GDK_BACKEND": null, + "PYTHONPATH": null + }, + "steps": [ + { + "name": "import_cv2", + "started_time_ns": 1792822917651376972, + "ok": true, + "ended_time_ns": 1792822917651401176, + "duration_s": 2.4204e-05 + }, + { + "name": "import_numpy", + "started_time_ns": 1792822917651405342, + "ok": true, + "ended_time_ns": 1792822917651415731, + "duration_s": 1.0389e-05 + }, + { + "name": "import_pil", + "started_time_ns": 1792822917651416657, + "ok": true, + "ended_time_ns": 1792822917651424231, + "duration_s": 7.574e-06 + }, + { + "name": "import_gi_gtk", + "started_time_ns": 1792822917651424657, + "ok": true, + "ended_time_ns": 1792822917652037466, + "duration_s": 0.000612809 + }, + { + "name": "import_framebuffer_preview", + "started_time_ns": 1792822917652044059, + "ok": true, + "ended_time_ns": 1792822917652060411, + "duration_s": 1.6352e-05 + }, + { + "name": "import_usb_camera", + "started_time_ns": 1792822917652062744, + "ok": true, + "ended_time_ns": 1792822917652071336, + "duration_s": 8.592e-06 + }, + { + "name": "import_csi_camera", + "started_time_ns": 1792822917652073225, + "ok": true, + "ended_time_ns": 1792822917652077984, + "duration_s": 4.759e-06 + } + ], + "note": "仅预热 Python/import/预览依赖，不打开相机、不创建采集目录。" + }, + "checks": { + "camera": { + "name": "camera", + "ok": true, + "started_time_ns": 1792822917652797978, + "camera_type": "csi", + "camera_device": "0", + "frame_observed_time_ns": 1792822917262092585, + "frame_age_s": 0.390738615, + "heartbeat_age_s": 0.377746397, + "session_open": false, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822917652836367, + "duration_s": 3.8389e-05 + }, + "gripper": { + "name": "gripper", + "ok": true, + "started_time_ns": 1792822917652838237, + "status_ok": true, + "gap_mm": 85.0, + "reference_angle_deg": 279.3145751959863, + "sample_observed_time_ns": 1792822917258817596, + "sample_age_s": 0.394029215, + "heartbeat_age_s": 0.377774953, + "warning": null, + "source": "persistent_pi_worker_runtime", + "ended_time_ns": 1792822917652850181, + "duration_s": 1.1944e-05 + }, + "screen": { + "name": "screen", + "ok": true, + "placeholder": true, + "message": "本机触觉配置未启用，接触力传感器保持非阻塞占位。" + }, + "tactile": { + "name": "tactile", + "ok": true, + "started_time_ns": 1792822917652854496, + "enabled": false, + "skipped": true, + "message": "本机触觉配置未启用，不打开串口。", + "config_path": "./config/tactile.json", + "ended_time_ns": 1792822917652970273, + "duration_s": 0.000115777 + } + }, + "runtime_reconfigured": false, + "runtime_reconfigure_error": null, + "note": "正常路径只读取常驻Pi Worker的相机/AS5600心跳；配置不一致或硬件不健康时仍由同一Worker受控重建Runtime，禁止另一个进程回退打开相机或并发访问I2C。该流程不创建采集session，不写入正式数据。", + "url": "http://192.168.31.244:8765/preflight", + "http_status": 200 + }, + "tracker": { + "ok": true, + "returncode": 0, + "started_time_ns": 1792822917660610186, + "ended_time_ns": 1792822917757420134, + "stdout": "{\"ok\": true, \"tracker_index\": 2, \"tracker_serial\": \"LHR-F47559F6\", \"tracker_indices\": [1, 2], \"pose_valid\": true}", + "stderr": "", + "tracker_index": 2, + "tracker_serial": "LHR-F47559F6", + "tracker_indices": [ + 1, + 2 + ], + "pose_valid": true + }, + "checks": { + "controller": true, + "time": true, + "locator": true, + "camera": true, + "gripper": true, + "screen": true + }, + "ok": true + } + }, + "capture_start_time_ns": null, + "data_use": "candidate", + "quality_status": "pass", + "can_process": false, + "project_config_snapshot": { + "schema_version": 1, + "network": { + "pi_host": "192.168.31.140", + "left_pi_host": "192.168.31.140", + "right_pi_host": "192.168.31.244", + "pi_port": 8765, + "left_pi_port": 8765, + "right_pi_port": 8765, + "pi_ssh_user": "zhang", + "pi_project_dir": "/home/zhang/teleumi-v2", + "pi_data_root": "/home/zhang/teleumi-v2/datasets" + }, + "device_binding": { + "device_id": "", + "vive_tracker_serial": "" + }, + "button_control": { + "enabled": false, + "role": "right", + "gpio_bcm": 17, + "debounce_ms": 50, + "hold_seconds": 1.0 + }, + "pi_standby": { + "enabled": true, + "sensor_hz": 10.0, + "i2c_bus": 1, + "i2c_address": "0x36", + "reference_seconds": 0.8, + "desktop_usb_exit": true, + "desktop_usb_poll_seconds": 0.5 + }, + "capture": { + "task_name": "task_1", + "safety_max_seconds": 120.0, + "vive_hz": 200.0, + "vive_init_seconds": 1.0, + "init_seconds": 0.8, + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "loop_hz": 200.0, + "camera_type": "csi", + "camera_rotation": "180", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_profile": "hbv_rpi1509b_ov5647_v1", + "camera_controls_path": "config/camera_profiles/hbv_rpi1509b_ov5647_v1.json", + "camera_fourcc": "mp4v", + "camera_first_frame_timeout_s": 5.0, + "preview_fps": 10.0, + "preview_rotation": "none", + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "scheduled_start_delay_s": 10.0, + "coordinated_arm_delay_s": 2.5, + "coordination_timeout_s": 90.0, + "scheduled_stop_delay_s": 1.0, + "capture_start_guard_s": 0.5, + "capture_stop_guard_s": 0.2, + "pause_chrony_during_capture": true + }, + "timeouts": { + "pi_http_s": 5.0, + "pi_configure_total_s": 20.0, + "pi_preflight_s": 12.0, + "vive_preflight_s": 5.0, + "vive_pose_wait_s": 2.0, + "pi_finish_s": 30.0, + "vive_finish_s": 10.0, + "quality_check_s": 120.0, + "pi_data_copy_s": 300.0, + "robot_score_s": 300.0 + }, + "quality": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05, + "min_duration_s": 0.0, + "min_vive_samples": 1, + "min_camera_frames": 1, + "min_clamp_samples": 1, + "max_frame_count_diff": 3, + "video_probe_timeout_s": 10.0, + "video_decode_timeout_s": 120.0 + }, + "_source": { + "path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/config/teleumi_config.json" + } + }, + "data_integrated": true, + "data_integrated_time_ns": 1792823093350950928, + "hand_integrations": { + "left_hand": { + "ok": true, + "hand_name": "left_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "left_hand", + "host": "192.168.31.140", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/left_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/session_001/left_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/left_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock zhang@192.168.31.140 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/left_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823088851352035, + "ended_time_ns": 1792823088868532109, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823088868691794, + "ended_time_ns": 1792823088913357406, + "transferred_bytes": 13681, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,681 bytes\nTotal transferred file size: 13,681 bytes\nLiteral data: 13,681 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,816\n\nsent 46 bytes received 13,816 bytes 27,724.00 bytes/sec\ntotal size is 13,681 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_7412ea67f91c1d26.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.140:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/left_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/'", + "returncode": 0, + "started_time_ns": 1792823088913910031, + "ended_time_ns": 1792823093349418537, + "transferred_bytes": 10557058, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 10,557,058 bytes\nTotal transferred file size: 10,557,058 bytes\nLiteral data: 10,557,058 bytes\nMatched data: 0 bytes\nFile list size: 225\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 10,560,041\n\nsent 168 bytes received 10,560,041 bytes 1,920,038.00 bytes/sec\ntotal size is 10,557,058 speedup is 1.00" + } + ], + "transferred_bytes": 10570739, + "copied_local_bytes": 11097624, + "started_time_ns": 1792823088850335623, + "ended_time_ns": 1792823093349978276 + }, + "error": null + }, + "right_hand": { + "ok": true, + "hand_name": "right_hand", + "hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand", + "folders": { + "Clamp_Data": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Clamp_Data", + "Merged_Trajectory": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Merged_Trajectory", + "RGB_Images": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/RGB_Images", + "Metadata": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Metadata" + }, + "folders_exist": true, + "pi_data_ok": true, + "file_status": { + "clamp": true, + "trajectory": true, + "video": true, + "video_timestamps": true, + "metadata": true + }, + "missing_files": [], + "copy": { + "ok": true, + "method": "rsync", + "hand_name": "right_hand", + "host": "192.168.31.244", + "remote_source": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/right_hand", + "remote_layout": "standard", + "remote_candidates": [ + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/session_001/right_hand", + "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/session_001/hand_single" + ], + "local_hand_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand", + "attempts": [ + { + "method": "remote_probe", + "layout": "standard", + "remote_path": "/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/right_hand", + "command_text": "ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock zhang@192.168.31.244 'test -d '\"'\"'/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/right_hand'\"'\"''", + "returncode": 0, + "started_time_ns": 1792823088851405035, + "ended_time_ns": 1792823088870947582, + "output": "" + }, + { + "method": "rsync", + "folder": "Metadata", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Metadata/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Metadata/'", + "returncode": 0, + "started_time_ns": 1792823088871108874, + "ended_time_ns": 1792823088917724684, + "transferred_bytes": 13709, + "output": "Number of files: 2 (reg: 1, dir: 1)\nNumber of created files: 1 (reg: 1)\nNumber of deleted files: 0\nNumber of regular files transferred: 1\nTotal file size: 13,709 bytes\nTotal transferred file size: 13,709 bytes\nLiteral data: 13,709 bytes\nMatched data: 0 bytes\nFile list size: 74\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 46\nTotal bytes received: 13,844\n\nsent 46 bytes received 13,844 bytes 27,780.00 bytes/sec\ntotal size is 13,709 speedup is 0.99" + }, + { + "method": "rsync", + "folder": "Clamp_Data+RGB_Images", + "command_text": "rsync -a --stats -e 'ssh -o BatchMode=yes -o StrictHostKeyChecking=accept-new -o ConnectTimeout=10 -o ControlMaster=auto -o ControlPersist=60 -o ControlPath=/tmp/tq1000/q_73b74734678c1b08.sock' '--include=/Clamp_Data/***' '--include=/RGB_Images/***' '--exclude=*' 'zhang@192.168.31.244:/home/zhang/teleumi-v2/datasets/stack the blocks/session_20261024_142157_00051/right_hand/' '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/'", + "returncode": 0, + "started_time_ns": 1792823088918276195, + "ended_time_ns": 1792823089651666769, + "transferred_bytes": 10035951, + "output": "Number of files: 7 (reg: 4, dir: 3)\nNumber of created files: 4 (reg: 4)\nNumber of deleted files: 0\nNumber of regular files transferred: 4\nTotal file size: 10,035,951 bytes\nTotal transferred file size: 10,035,951 bytes\nLiteral data: 10,035,951 bytes\nMatched data: 0 bytes\nFile list size: 216\nFile list generation time: 0.001 seconds\nFile list transfer time: 0.000 seconds\nTotal bytes sent: 168\nTotal bytes received: 10,038,797\n\nsent 168 bytes received 10,038,797 bytes 6,692,643.33 bytes/sec\ntotal size is 10,035,951 speedup is 1.00" + } + ], + "transferred_bytes": 10049660, + "copied_local_bytes": 10559166, + "started_time_ns": 1792823088850708036, + "ended_time_ns": 1792823089652243814 + }, + "error": null + } + }, + "pi_integrated_root": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051", + "pi_integrated_dirs": { + "left_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand", + "right_hand": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand" + }, + "pi_integrated_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand", + "pi_integrated_dir_exists": true, + "pi_integrated_dir_has_data": true, + "last_integration_skipped_copy": false, + "integration_receipt": { + "version": 2, + "complete": true, + "task_name": "stack the blocks", + "session_id": "session_20261024_142157_00051", + "hand_names": [ + "left_hand", + "right_hand" + ] + }, + "quality_checked_time_ns": 1792823374554675355, + "quality_threshold_profile": "formal", + "quality_thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "result": { + "quality_check": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "全部手侧质量检测通过。", + "started_time_ns": 1792823374150640883, + "ended_time_ns": 1792823374552997643, + "hands": { + "left_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 左手设备（left_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823374150640883, + "ended_time_ns": 1792823374349593228, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142157_00051", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.140", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142157_00051_left_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "left_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142157_00051 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.140 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142157_00051_left_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name left_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142157_00051_left_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142157_00051_left_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand", + "hand_name": "left_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142157_00051\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822921322114895\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822921322114895，vive_T0=1792822921322114895，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822929133876734，vive_Tstop=1792822929133876734，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005387s，first=1792822921327502201，T0=1792822921322114895，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001458s，last=1792822929132418683，Tstop=1792822929133876734，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1562\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00214013821142 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00214013821142 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1562，metadata 1562\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00214270493038 Hz，最低 150.0 Hz，时长 7.8049163818359375 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00214270493038 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006330728530883789s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993835988..1.0000000005839313，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0011694817319381243m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.3605347484369166deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=313 duration=7.825s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=313，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 313，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=312，rows=313，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=313，monotonic违规=0，估算频率=40.01878228701326Hz，最大间隔=0.033517883s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 313，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.01878294917315 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.01878294917315 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033516771s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 469，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 40.3071..99.6161\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 469，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99992953085197 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99992953085197 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020066971s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=469，bad_rows=0，monotonic违规=0，估算频率=59.99993124623263Hz，最大间隔=0.020068174s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 313，metadata 313\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 469，metadata 469\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 313，timestamps 313，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=313，timestamps=313，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.029s，video=7.825s，timestamps=7.796339043999997s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.004s，camera=7.796339043999997s，clamp=7.800009161000003s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822921322114895，pi_T0=1792822921322114895，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822929133876734，pi_Tstop=1792822929133876734，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.006310s，first=1792822921328425187，T0=1792822921322114895，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.011362s，first=1792822921333476582，T0=1792822921322114895，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.009113s，last=1792822929124764231，Tstop=1792822929133876734，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000391s，last=1792822929133485743，Tstop=1792822929133876734，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.008577s，vive=7.804916482s，camera=7.796339043999997s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.004907s，vive=7.804916482s，clamp=7.800009161000003s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.000923s，vive_first=1792822921327502201，camera_first=1792822921328425187，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.005974s，vive_first=1792822921327502201，clamp_first=1792822921333476582，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.007654s，vive_last=1792822929132418683，camera_last=1792822929124764231，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.001067s，vive_last=1792822929132418683，clamp_last=1792822929133485743，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142157_00051_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n" + }, + "right_hand": { + "status": "pass", + "returncode": 0, + "final_ok": true, + "summary": "PASS: 右手设备（right_hand） 当前可检查项目全部通过", + "started_time_ns": 1792823374349843438, + "ended_time_ns": 1792823374552997643, + "command": [ + "/home/striving/miniconda3/envs/teleumi/bin/python", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py", + "--session-id", + "session_20261024_142157_00051", + "--vive-data-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks", + "--pi-host", + "192.168.31.244", + "--pi-port", + "8765", + "--pi-report-json", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142157_00051_right_hand_joint_quality.pi.json", + "--skip-pi-status", + "--threshold-profile", + "formal", + "--max-rms-offset-s", + "0.005", + "--max-last-offset-s", + "0.005", + "--max-clock-offset-s", + "0.005", + "--max-clock-drift-s", + "0.001", + "--min-vive-hz", + "150.0", + "--max-vive-hz", + "220.0", + "--max-vive-gap-s", + "0.025", + "--max-vive-drop-rate", + "0.05", + "--max-vive-position-jump-m", + "0.1", + "--max-vive-rotation-jump-deg", + "30.0", + "--max-vive-quaternion-norm-error", + "0.02", + "--min-camera-fps", + "38.0", + "--max-camera-fps", + "42.0", + "--min-clamp-hz", + "55.0", + "--max-clamp-hz", + "65.0", + "--max-vive-start-offset-s", + "0.025", + "--max-vive-end-offset-s", + "0.025", + "--max-camera-start-offset-s", + "0.05", + "--max-camera-end-offset-s", + "0.05", + "--max-clamp-start-offset-s", + "0.025", + "--max-clamp-end-offset-s", + "0.025", + "--max-joint-duration-diff-s", + "0.06", + "--max-joint-start-diff-s", + "0.05", + "--max-joint-end-diff-s", + "0.05", + "--max-pi-duration-diff-s", + "0.3", + "--max-video-timestamp-diff-s", + "0.3", + "--max-camera-gap-s", + "0.1", + "--max-camera-drop-rate", + "0.05", + "--max-clamp-gap-s", + "0.05", + "--max-clamp-drop-rate", + "0.05", + "--hand-name", + "right_hand", + "--pi-run-dir", + "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand" + ], + "command_text": "/home/striving/miniconda3/envs/teleumi/bin/python '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/tools/quality/check_joint_session.py' --session-id session_20261024_142157_00051 --vive-data-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks' --pi-host 192.168.31.244 --pi-port 8765 --pi-report-json '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142157_00051_right_hand_joint_quality.pi.json' --skip-pi-status --threshold-profile formal --max-rms-offset-s 0.005 --max-last-offset-s 0.005 --max-clock-offset-s 0.005 --max-clock-drift-s 0.001 --min-vive-hz 150.0 --max-vive-hz 220.0 --max-vive-gap-s 0.025 --max-vive-drop-rate 0.05 --max-vive-position-jump-m 0.1 --max-vive-rotation-jump-deg 30.0 --max-vive-quaternion-norm-error 0.02 --min-camera-fps 38.0 --max-camera-fps 42.0 --min-clamp-hz 55.0 --max-clamp-hz 65.0 --max-vive-start-offset-s 0.025 --max-vive-end-offset-s 0.025 --max-camera-start-offset-s 0.05 --max-camera-end-offset-s 0.05 --max-clamp-start-offset-s 0.025 --max-clamp-end-offset-s 0.025 --max-joint-duration-diff-s 0.06 --max-joint-start-diff-s 0.05 --max-joint-end-diff-s 0.05 --max-pi-duration-diff-s 0.3 --max-video-timestamp-diff-s 0.3 --max-camera-gap-s 0.1 --max-camera-drop-rate 0.05 --max-clamp-gap-s 0.05 --max-clamp-drop-rate 0.05 --hand-name right_hand --pi-run-dir '/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand'", + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142157_00051_right_hand_joint_quality.txt", + "report_write_error": null, + "pi_report_json": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142157_00051_right_hand_joint_quality.pi.json", + "pi_run_dir": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand", + "hand_name": "right_hand", + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "output": "TeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142157_00051\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822921322114895\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822921322114895，vive_T0=1792822921322114895，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822929133876734，vive_Tstop=1792822929133876734，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005387s，first=1792822921327502201，T0=1792822921322114895，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001458s，last=1792822929132418683，Tstop=1792822929133876734，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1562\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00214013821142 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00214013821142 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1562，metadata 1562\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00214270493038 Hz，最低 150.0 Hz，时长 7.8049163818359375 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00214270493038 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006330728530883789s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.999999999403849..1.000000000646361，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.002214281015270198m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.561703194310735deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=313 duration=7.825s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=313，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 313，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=312，rows=313，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=313，monotonic违规=0，估算频率=40.03463703382013Hz，最大间隔=0.033525238s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 313，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03463722902958 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03463722902958 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03352422s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 469，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.8241..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 469，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000183431329994 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.000183431329994 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020244616s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=469，bad_rows=0，monotonic违规=0，估算频率=60.000188554438694Hz，最大间隔=0.020249079s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 313，metadata 313\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 469，metadata 469\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 313，timestamps 313，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=313，timestamps=313，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=7.825s，timestamps=7.7932515839999965s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.007s，camera=7.7932515839999965s，clamp=7.799976154000002s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822921322114895，pi_T0=1792822921322114895，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822929133876734，pi_Tstop=1792822929133876734，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.005308s，first=1792822921327423126，T0=1792822921322114895，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.003378s，first=1792822921325493198，T0=1792822921322114895，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013202s，last=1792822929120674710，Tstop=1792822929133876734，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.008407s，last=1792822929125469352，Tstop=1792822929133876734，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.011665s，vive=7.804916482s，camera=7.7932515839999965s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.004940s，vive=7.804916482s，clamp=7.799976154000002s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.000079s，vive_first=1792822921327502201，camera_first=1792822921327423126，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.002009s，vive_first=1792822921327502201，clamp_first=1792822921325493198，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.011744s，vive_last=1792822929132418683，camera_last=1792822929120674710，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.006949s，vive_last=1792822929132418683，clamp_last=1792822929125469352，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142157_00051_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n" + } + }, + "threshold_profile": "formal", + "thresholds": { + "max_rms_offset_s": 0.005, + "max_last_offset_s": 0.005, + "max_clock_offset_s": 0.005, + "max_clock_drift_s": 0.001, + "min_vive_hz": 150.0, + "max_vive_hz": 220.0, + "max_vive_gap_s": 0.025, + "max_vive_drop_rate": 0.05, + "max_vive_position_jump_m": 0.1, + "max_vive_rotation_jump_deg": 30.0, + "max_vive_quaternion_norm_error": 0.02, + "min_camera_fps": 38.0, + "max_camera_fps": 42.0, + "min_clamp_hz": 55.0, + "max_clamp_hz": 65.0, + "max_vive_start_offset_s": 0.025, + "max_vive_end_offset_s": 0.025, + "max_camera_start_offset_s": 0.05, + "max_camera_end_offset_s": 0.05, + "max_clamp_start_offset_s": 0.025, + "max_clamp_end_offset_s": 0.025, + "max_joint_duration_diff_s": 0.06, + "max_joint_start_diff_s": 0.05, + "max_joint_end_diff_s": 0.05, + "max_pi_duration_diff_s": 0.3, + "max_video_timestamp_diff_s": 0.3, + "max_camera_gap_s": 0.1, + "max_camera_drop_rate": 0.05, + "max_clamp_gap_s": 0.05, + "max_clamp_drop_rate": 0.05 + }, + "report_path": "/home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142157_00051_left_hand_joint_quality.txt", + "output": "[左手设备（left_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142157_00051\n检查设备: 左手设备（left_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 左手设备（left_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051\n[PASS] 左手设备（left_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Metadata/pc_joint_metadata.json\n[PASS] 左手设备（left_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Metadata/pc_metadata.json\n[PASS] 左手设备（left_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 左手设备（left_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：PC final_ok: True\n[PASS] 左手设备（left_hand）：Pi returncode: 0\n[PASS] 左手设备（left_hand）：VIVE returncode: 0\n[PASS] 左手设备（left_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 左手设备（left_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 左手设备（left_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 左手设备（left_hand）：采集前后最大 RMS offset: start=0.001853765s，end=1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：采集前后最大绝对时钟偏差: start=-0.001853765s，end=-1.198e-06s，max=0.001853765s，阈值 0.005s\n[DIAG] 左手设备（left_hand）：边界 chrony Last offset 漂移: drift=0.001852567s，参考值 0.001s\n[PASS] 左手设备（left_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822921322114895\n[PASS] 左手设备（left_hand）：PC 与 VIVE T0 一致: pc_T0=1792822921322114895，vive_T0=1792822921322114895，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822929133876734，vive_Tstop=1792822929133876734，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：VIVE 首样本晚于 T0: first-T0=+0.005387s，first=1792822921327502201，T0=1792822921322114895，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001458s，last=1792822929132418683，Tstop=1792822929133876734，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 样本数: 1562\n[PASS] 左手设备（left_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 左手设备（left_hand）：VIVE metadata 最低频率: 200.00214013821142 Hz，最低 150.0 Hz\n[PASS] 左手设备（left_hand）：VIVE metadata 频率上限/重复数据: 200.00214013821142 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 左手设备（left_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 左手设备（left_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：VIVE 轨迹行数匹配: 轨迹 1562，metadata 1562\n[PASS] 左手设备（left_hand）：VIVE 轨迹最低频率: 200.00214270493038 Hz，最低 150.0 Hz，时长 7.8049163818359375 s\n[PASS] 左手设备（left_hand）：VIVE 轨迹频率上限/重复数据: 200.00214270493038 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：VIVE 最大断流间隔: max_gap=0.006330728530883789s，阈值 0.025s\n[PASS] 左手设备（left_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：VIVE 四元数范数: 违规 0，范围 0.9999999993835988..1.0000000005839313，容差 0.02\n[PASS] 左手设备（left_hand）：VIVE 位移异常跳变: 违规 0，max=0.0011694817319381243m，阈值 0.1m/样本\n[PASS] 左手设备（left_hand）：VIVE 旋转异常跳变: 违规 0，max=0.3605347484369166deg，阈值 30.0deg/样本\n[SKIP] 左手设备（left_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Metadata/metadata.json\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/RGB_Images/video.mp4\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/RGB_Images/timestamps.csv\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/left_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 左手设备（left_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 左手设备（left_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 左手设备（left_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=313 duration=7.825s\n[PASS] 左手设备（left_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=313，error=None\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 左手设备（left_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳可解析: 行数 313，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧号连续: first=0，last=312，rows=313，缺失帧号 0\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 左手设备（left_hand）：Pi 数据：视频 monotonic 诊断: rows=313，monotonic违规=0，估算频率=40.01878228701326Hz，最大间隔=0.033517883s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数阈值: 313，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳最低频率: 40.01878294917315 Hz，最低 38.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.01878294917315 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 左手设备（left_hand）：Pi 数据：视频最大断流间隔: max_gap=0.033516771s，阈值 0.1s\n[PASS] 左手设备（left_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数据可解析: 行数 469，异常行 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 40.3071..99.6161\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数阈值: 469，最小 1\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最低频率: 59.99992953085197 Hz，最低 55.0 Hz\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 频率上限/重复数据: 59.99992953085197 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020066971s，阈值 0.05s\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 左手设备（left_hand）：Pi 数据：AS5600 monotonic 诊断: rows=469，bad_rows=0，monotonic违规=0，估算频率=59.99993124623263Hz，最大间隔=0.020068174s；新版不计算 corrected_time 漂移\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 左手设备（left_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 313，metadata 313\n[PASS] 左手设备（left_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 469，metadata 469\n[PASS] 左手设备（left_hand）：Pi 数据：视频帧数与时间戳匹配: video 313，timestamps 313，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=313，timestamps=313，允许差 3\n[PASS] 左手设备（left_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.029s，video=7.825s，timestamps=7.796339043999997s\n[PASS] 左手设备（left_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.004s，camera=7.796339043999997s，clamp=7.800009161000003s\n[PASS] 左手设备（left_hand）：PC 与 Pi T0 一致: pc_T0=1792822921322114895，pi_T0=1792822921322114895，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822929133876734，pi_Tstop=1792822929133876734，diff=+0.000000000s\n[PASS] 左手设备（left_hand）：Pi 视频首帧晚于 T0: first-T0=+0.006310s，first=1792822921328425187，T0=1792822921322114895，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 首样本晚于 T0: first-T0=+0.011362s，first=1792822921333476582，T0=1792822921322114895，阈值 0.025s\n[PASS] 左手设备（left_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.009113s，last=1792822929124764231，Tstop=1792822929133876734，阈值 0.05s\n[PASS] 左手设备（left_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.000391s，last=1792822929133485743，Tstop=1792822929133876734，阈值 0.025s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频有效时长差: diff=0.008577s，vive=7.804916482s，camera=7.796339043999997s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 有效时长差: diff=0.004907s，vive=7.804916482s，clamp=7.800009161000003s，诊断参考值 0.06s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频起点差: diff=0.000923s，vive_first=1792822921327502201，camera_first=1792822921328425187，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 起点差: diff=0.005974s，vive_first=1792822921327502201，clamp_first=1792822921333476582，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 Pi 视频终点差: diff=0.007654s，vive_last=1792822929132418683，camera_last=1792822929124764231，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：VIVE 与 AS5600 终点差: diff=0.001067s，vive_last=1792822929132418683，clamp_last=1792822929133485743，诊断参考值 0.05s\n[DIAG] 左手设备（left_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142157_00051_left_hand_joint_quality.pi.json\n\nPASS: 左手设备（left_hand） 当前可检查项目全部通过\n\n\n[右手设备（right_hand）]\nTeleUMI 联合质检阈值记录\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n检查 session: session_20261024_142157_00051\n检查设备: 右手设备（right_hand）\nthreshold_profile: formal\nthresholds: {\"max_camera_drop_rate\": 0.05, \"max_camera_end_offset_s\": 0.05, \"max_camera_fps\": 42.0, \"max_camera_gap_s\": 0.1, \"max_camera_start_offset_s\": 0.05, \"max_clamp_drop_rate\": 0.05, \"max_clamp_end_offset_s\": 0.025, \"max_clamp_gap_s\": 0.05, \"max_clamp_hz\": 65.0, \"max_clamp_start_offset_s\": 0.025, \"max_clock_drift_s\": 0.001, \"max_clock_offset_s\": 0.005, \"max_joint_duration_diff_s\": 0.06, \"max_joint_end_diff_s\": 0.05, \"max_joint_start_diff_s\": 0.05, \"max_last_offset_s\": 0.005, \"max_pi_duration_diff_s\": 0.3, \"max_rms_offset_s\": 0.005, \"max_video_timestamp_diff_s\": 0.3, \"max_vive_drop_rate\": 0.05, \"max_vive_end_offset_s\": 0.025, \"max_vive_gap_s\": 0.025, \"max_vive_hz\": 220.0, \"max_vive_position_jump_m\": 0.1, \"max_vive_quaternion_norm_error\": 0.02, \"max_vive_rotation_jump_deg\": 30.0, \"max_vive_start_offset_s\": 0.025, \"min_camera_fps\": 38.0, \"min_clamp_hz\": 55.0, \"min_vive_hz\": 150.0}\n[PASS] 右手设备（right_hand）：PC session 目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051\n[PASS] 右手设备（right_hand）：PC 联采 metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Metadata/pc_joint_metadata.json\n[PASS] 右手设备（right_hand）：VIVE metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Metadata/pc_metadata.json\n[PASS] 右手设备（right_hand）：VIVE 轨迹文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Merged_Trajectory/merged_trajectory.txt\n[PASS] 右手设备（right_hand）：PC 联采 metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：VIVE metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：PC final_ok: True\n[PASS] 右手设备（right_hand）：Pi returncode: 0\n[PASS] 右手设备（right_hand）：VIVE returncode: 0（来源：left_hand 双手共享 VIVE 进程）\n[PASS] 右手设备（right_hand）：时间同步状态: ok=True, leap=None\n[DIAG] 右手设备（right_hand）：chrony RMS offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：chrony Last offset: before=Nones，after_config=Nones，参考值 0.005s\n[DIAG] 右手设备（right_hand）：采集开始 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集结束 chrony 快照: ok=True，error=None\n[DIAG] 右手设备（right_hand）：采集前后最大 RMS offset: start=0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：采集前后最大绝对时钟偏差: start=-0.000444101s，end=0.000161103s，max=0.000444101s，阈值 0.005s\n[DIAG] 右手设备（right_hand）：边界 chrony Last offset 漂移: drift=0.000605204s，参考值 0.001s\n[PASS] 右手设备（right_hand）：统一开始 T0 metadata: pc_sync_mode=deferred_arm，pc_T0=1792822921322114895\n[PASS] 右手设备（right_hand）：PC 与 VIVE T0 一致: pc_T0=1792822921322114895，vive_T0=1792822921322114895，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 VIVE Tstop 一致: pc_Tstop=1792822929133876734，vive_Tstop=1792822929133876734，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：VIVE 首样本晚于 T0: first-T0=+0.005387s，first=1792822921327502201，T0=1792822921322114895，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 末样本早于 Tstop: Tstop-last=+0.001458s，last=1792822929132418683，Tstop=1792822929133876734，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 样本数: 1562\n[PASS] 右手设备（right_hand）：VIVE 无效读取: 总计=0，设备未连接=0，位姿无效=0\n[PASS] 右手设备（right_hand）：VIVE metadata 最低频率: 200.00214013821142 Hz，最低 150.0 Hz\n[PASS] 右手设备（right_hand）：VIVE metadata 频率上限/重复数据: 200.00214013821142 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 轨迹列数: 异常行 0\n[PASS] 右手设备（right_hand）：VIVE 位姿数值有限: NaN/Inf 行 0\n[PASS] 右手设备（right_hand）：VIVE 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：VIVE 轨迹行数匹配: 轨迹 1562，metadata 1562\n[PASS] 右手设备（right_hand）：VIVE 轨迹最低频率: 200.00214270493038 Hz，最低 150.0 Hz，时长 7.8049163818359375 s\n[PASS] 右手设备（right_hand）：VIVE 轨迹频率上限/重复数据: 200.00214270493038 Hz，最高 220.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：VIVE 最大断流间隔: max_gap=0.006330728530883789s，阈值 0.025s\n[PASS] 右手设备（right_hand）：VIVE 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：VIVE 四元数范数: 违规 0，范围 0.999999999403849..1.000000000646361，容差 0.02\n[PASS] 右手设备（right_hand）：VIVE 位移异常跳变: 违规 0，max=0.002214281015270198m，阈值 0.1m/样本\n[PASS] 右手设备（right_hand）：VIVE 旋转异常跳变: 违规 0，max=0.561703194310735deg，阈值 30.0deg/样本\n[SKIP] 右手设备（right_hand）：VIVE 逐帧跟踪置信状态: 当前轨迹格式只有 timestamp/x/y/z/qx/qy/qz/qw，未保存逐帧跟踪置信字段；invalid_reads 已单独作为硬门槛。\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 数据目录: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Metadata/metadata.json\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/RGB_Images/video.mp4\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/RGB_Images/timestamps.csv\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/datasets/stack the blocks/session_20261024_142157_00051/right_hand/Clamp_Data/clamp_data_tum.txt\n[PASS] 右手设备（right_hand）：Pi 数据：Pi metadata 可解析: JSON 正常\n[PASS] 右手设备（right_hand）：Pi 数据：Pi 采集进程完成状态: stage=idle，last_error=None\n[PASS] 右手设备（right_hand）：Pi 数据：视频可读: ffprobe 1280x960 fps=40.0 frames=313 duration=7.825s\n[PASS] 右手设备（right_hand）：Pi 数据：视频完整逐帧解码: method=ffmpeg，decoded_frames=313，error=None\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频分辨率符合配置: actual=1280x960，configured=1280x960\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频编码符合配置: codec=mpeg4，tag=mp4v，configured=mp4v\n[PASS] 右手设备（right_hand）：Pi 数据：正式视频容器帧率符合配置: container=40.0 FPS，configured=40.0 FPS，配置容差=0.8 FPS，正式范围=38.0-42.0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳可解析: 行数 313，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧号连续: first=0，last=312，rows=313，缺失帧号 0\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳单调: 违规 0\n[DIAG] 右手设备（right_hand）：Pi 数据：视频 monotonic 诊断: rows=313，monotonic违规=0，估算频率=40.03463703382013Hz，最大间隔=0.033525238s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数阈值: 313，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳最低频率: 40.03463722902958 Hz，最低 38.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳频率上限/重复数据: 40.03463722902958 Hz，最高 42.0 Hz；超限通常表示配置错误或重复时间戳数据\n[PASS] 右手设备（right_hand）：Pi 数据：视频最大断流间隔: max_gap=0.03352422s，阈值 0.1s\n[PASS] 右手设备（right_hand）：Pi 数据：视频估算丢帧率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数据可解析: 行数 469，异常行 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 时间戳单调: 违规 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 value 范围: 越界 0，范围 99.8241..100.0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 数值有限: NaN/Inf 0\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数阈值: 469，最小 1\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最低频率: 60.000183431329994 Hz，最低 55.0 Hz\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 频率上限/重复数据: 60.000183431329994 Hz，最高 65.0 Hz；超限通常表示配置错误或重复样本\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 最大断流间隔: max_gap=0.020244616s，阈值 0.05s\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 估算丢样率: drop_rate=0.000000%，missing=0，阈值 5.00%\n[DIAG] 右手设备（right_hand）：Pi 数据：AS5600 monotonic 诊断: rows=469，bad_rows=0，monotonic违规=0，估算频率=60.000188554438694Hz，最大间隔=0.020249079s；新版不计算 corrected_time 漂移\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 初始化传感器状态: 异常状态样本 0\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期 I2C 异常次数: 当前数据格式未记录采集期间 I2C 异常计数。\n[SKIP] 右手设备（right_hand）：Pi 数据：AS5600 采集期传感器状态: 当前夹爪数据仅保存 timestamp/value，未保存逐样本磁场状态。\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与 metadata 匹配: timestamps 313，metadata 313\n[PASS] 右手设备（right_hand）：Pi 数据：AS5600 样本数与 metadata 匹配: 文件 469，metadata 469\n[PASS] 右手设备（right_hand）：Pi 数据：视频帧数与时间戳匹配: video 313，timestamps 313，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：完整解码帧数与时间戳匹配: decoded=313，timestamps=313，允许差 3\n[PASS] 右手设备（right_hand）：Pi 数据：视频文件时长与时间戳接近: diff=0.032s，video=7.825s，timestamps=7.7932515839999965s\n[PASS] 右手设备（right_hand）：Pi 数据：视频时间戳时长与 AS5600 时长接近: diff=0.007s，camera=7.7932515839999965s，clamp=7.799976154000002s\n[PASS] 右手设备（right_hand）：PC 与 Pi T0 一致: pc_T0=1792822921322114895，pi_T0=1792822921322114895，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：PC 与 Pi Tstop 一致: pc_Tstop=1792822929133876734，pi_Tstop=1792822929133876734，diff=+0.000000000s\n[PASS] 右手设备（right_hand）：Pi 视频首帧晚于 T0: first-T0=+0.005308s，first=1792822921327423126，T0=1792822921322114895，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 首样本晚于 T0: first-T0=+0.003378s，first=1792822921325493198，T0=1792822921322114895，阈值 0.025s\n[PASS] 右手设备（right_hand）：Pi 视频末帧早于 Tstop: Tstop-last=+0.013202s，last=1792822929120674710，Tstop=1792822929133876734，阈值 0.05s\n[PASS] 右手设备（right_hand）：AS5600 末样本早于 Tstop: Tstop-last=+0.008407s，last=1792822929125469352，Tstop=1792822929133876734，阈值 0.025s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频有效时长差: diff=0.011665s，vive=7.804916482s，camera=7.7932515839999965s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 有效时长差: diff=0.004940s，vive=7.804916482s，clamp=7.799976154000002s，诊断参考值 0.06s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频起点差: diff=0.000079s，vive_first=1792822921327502201，camera_first=1792822921327423126，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 起点差: diff=0.002009s，vive_first=1792822921327502201，clamp_first=1792822921325493198，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 Pi 视频终点差: diff=0.011744s，vive_last=1792822929132418683，camera_last=1792822929120674710，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：VIVE 与 AS5600 终点差: diff=0.006949s，vive_last=1792822929132418683，clamp_last=1792822929125469352，诊断参考值 0.05s\n[DIAG] 右手设备（right_hand）：Pi 数据检查报告: /home/striving/Desktop/TeleUMI-master/TeleUMI-master+(2)/TeleUMI-master/UI/runtime/quality_reports/stack the blocks/session_20261024_142157_00051_right_hand_joint_quality.pi.json\n\nPASS: 右手设备（right_hand） 当前可检查项目全部通过\n\n\nPASS: 全部手侧质量检测通过。" + } + } +} \ No newline at end of file diff --git a/stack the blocks/session_20261024_142157_00051/control/stop_left_hand.flag b/stack the blocks/session_20261024_142157_00051/control/stop_left_hand.flag new file mode 100644 index 0000000000000000000000000000000000000000..887eb1b810660ec56e3e99e666553e242530a4d6 --- /dev/null +++ b/stack the blocks/session_20261024_142157_00051/control/stop_left_hand.flag @@ -0,0 +1 @@ +1792822929133876734 \ No newline at end of file diff --git a/stack the blocks/session_20261024_142157_00051/left_hand/Clamp_Data/clamp_data_tum.txt b/stack the blocks/session_20261024_142157_00051/left_hand/Clamp_Data/clamp_data_tum.txt new file mode 100644 index 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1792822929139869620 + }, + "last_error": null, + "capture_start_time_ns": 1792822921322114895, + "capture_stop_time_ns": 1792822929133876734 + }, + "sensor": "as5600", + "hand_mode": "dual", + "hand_name": "left_hand", + "camera": true, + "camera_type": "csi", + "preview": true, + "init_seconds": 0.8, + "loop_hz": 200.0, + "dry_run": false, + "i2c_bus": 1, + "i2c_address": "0x36", + "sensor_hz": 60.0, + "as5600_queue_size": 600, + "open_angle_deg": 45.791, + "gripper_open_mm": 85.0, + "gripper_calibration_json": null, + "allow_as5600_status_warning": true, + "mapping": "初始化最大开度角度=100，闭合角度=0", + "reference_pose": "max_open", + "camera_device": "0", + "camera_width": 1280, + "camera_height": 960, + "camera_fps": 40.0, + "camera_controls_path": "runtime/camera_tuning/active_camera_controls.json", + "camera_fourcc": "mp4v", + "camera_capture_pixel_format": "RGB888", + "camera_frame_color_order": "BGR", + "camera_color_pipeline": "Picamera2 RGB888 ndarray(BGR) -> OpenCV VideoWriter", + "preview_device": "/dev/fb0", + "preview_fps": 10.0, + "preview_rotation": "none", + "camera_first_frame_timeout_s": 5.0, + "sync_mode": "immediate", + "capture_start_time_ns": 1792822921322114895, + "capture_stop_time_ns": 1792822929133876734, + "effective_capture_stop_time_ns": 1792822929133876734, + "capture_start_guard_s": 0.5, + "stop_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142157_00051.stop", + "diagnostics_state_file": "/home/zhang/TeleUMI/runtime/pi_capture_control/session_20261024_142157_00051.diagnostics.json", + "deferred_arm": true, + "control_session_id": "session_20261024_142157_00051", + "control_generation": 51, + "data_plane_mode": "persistent", + "tactile": { + "enabled": false, + "sensors": {}, + "device_id": 1, + "baudrate": 921600, + "point_count": 77, + "poll_hz": 80.0, + "response_timeout": 0.5, + "calibrate_on_start": true, + "calibration_delay_s": 2.0, + "init_seconds": 2.0, + "read_resultant": true, + "read_distributed": true, + "write_header": false, + "config_path": "./config/tactile.json", + "model": "PX6AX-GEN3-CP-M3025-Core", + "force_scale_n_per_lsb": 0.1, + "timestamp": "主机收到并解析串口响应后调用 time.time_ns()", + "hardware_synchronized": false, + "integration_mode": "pi_session_optional_sidecar", + "gate_time_source": "shared_capture_start_stop_time_ns", + "capture_start_time_ns": 1792822921322114895, + "capture_stop_time_ns": 1792822929133876734 + }, + "diagnostics_data": { + "monotonic_timestamp_enabled": true, + "corrected_time_enabled": false, + "monotonic_timestamp_role": "仅用于本机样本顺序、采样间隔和墙钟异常诊断，不参与 T0/Tstop 门控" + }, + "capture_clock": { + "mode": "wall_clock", + "policy": "T0、Tstop 和采集数据时间戳统一直接使用 time.time_ns 墙钟。" + }, + "reference_angle_deg": 105.46875, + "reference_source": "max_open_init", + "zero_angle_deg": 105.46875, + "zero_source": "max_open_init", + "init_total_samples": 49, + "init_bad_status_samples": 0, + "capture_start_policy": "camera_first_frame", + "camera_first_frame_wait_s": 6.352e-06, + 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"Contrast": 1.15, + "Saturation": 1.0, + "Sharpness": 0.85, + "ExposureTime": 18000, + "AnalogueGain": 6.1, + "ColourGains": [ + 1.3, + 1.55 + ] + } + }, + "camera_encoder": "opencv_video_writer", + "clamp_sample_count": 469, + "clamp_first_sample_time_ns": 1792822921333476582, + "clamp_last_sample_time_ns": 1792822929133485743, + "clamp_actual_hz": 59.99992953085199, + "clamp_value_min": 40.30708135878229, + "clamp_value_max": 99.61612270970278, + "as5600_diagnostics": { + "queue_size": 600, + "queue_depth": 0, + "max_queue_depth": 203, + "read_count": 834, + "read_error_count": 0, + "queue_overrun_count": 0, + "last_read_error": null + }, + "main_loop_iterations": 1855 + }, + "notes": [ + "树莓派端已经接入 AS5600、相机、HDMI 小屏预览和默认关闭的可选双路触觉旁路。", + "夹爪映射规则为：初始化最大开度角度=100，闭合角度=0；正式落盘仍保存 0 到 100 的 value。", + "VIVE Tracker 当前在 Windows 端采集；自动单条联合采集入口为 run_session_pc.py。", + "首条采集前通过网络执行一次 NTP 校时并停止 chronyd；后续采集网络只负责开始、停止和事后状态/质检。", + "下一阶段优先扩展批量采集入口、Pi 本地数据质量检查和工程化稳定性测试。", + "逐帧/逐样本 monotonic_ns 仅作为本地诊断字段保存；T0、Tstop 和正式对齐仍使用墙钟 time.time_ns。" + ] +} \ No newline at end of file